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Test Study on Four-Track All-Wheel Drive Travel Mechanism and Working Performance of Deep-Sea Mining Vehicle
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Min JIANG1, 2, 3, Wei LIU1, 3, Bingzheng CHEN1, 3, Yang AI1, 3, Hongyun WU4, Xinjiang LU2
Mining Research and Development | 2025, 45(10) : 33 - 42
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Mining Research and Development | 2025, 45(10): 33-42
Test Study on Four-Track All-Wheel Drive Travel Mechanism and Working Performance of Deep-Sea Mining Vehicle
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Min JIANG1, 2, 3, Wei LIU1, 3, Bingzheng CHEN1, 3, Yang AI1, 3, Hongyun WU4, Xinjiang LU2
Affiliations
  • 1.Changsha Institute of Mining Research Co., Ltd., Changsha, Hunan 410012, China
  • 2.Central South University, Changsha, Hunan 410083, China
  • 3.National Engineering Research Center for Metal Mining, Changsha, Hunan 410012, China
  • 4.Tianjin University, Tianjin 300072, China
Published: 2025-10-25
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Aiming at the problem of stable driving of mining rehicle in the complex terrain of submarine cobalt-rich crusts, a scheme of four-track all-wheel drive travel mechanism for deep-sea mining vehicles and a terrain-adaptive control method were proposed, and a mechanical model of four-track travel was established. A multi-body dynamics simulation model was built based on Recurdyn software. The characteristics of the four-track travel mechanism, such as straight-line travel, climbing, obstacle-crossing and steering, were analyzed, and laboratory tests and marine tests for the travel mechanism were carried out for verification. The results show that the test results are close to the theoretical calculation values, with the calculation error within 10%. The adaptive control method effectively improves the travel effect of the travel mechanism and reduces the deviation of straight-line travel. When the travel speed is 0.051 m/s, the adoption of vehicle body leveling control can improve the travel stability by 2 to 3 times. However, when the travel speed is 0.198 m/s, the control effect is relatively poor. On the whole, as the travel speed increases, the effect of the adaptive control weakens continuously. The research results can provide references for the research and development of travel technologies and equipment in deep-sea complex terrains.

Deep-sea mining vehicle  /  Cobalt-rich crust  /  Four-track all-wheel drive travel mechanism  /  Travel performance  /  Marine test
Min JIANG, Wei LIU, Bingzheng CHEN, Yang AI, Hongyun WU, Xinjiang LU. Test Study on Four-Track All-Wheel Drive Travel Mechanism and Working Performance of Deep-Sea Mining Vehicle[J]. Mining Research and Development, 2025 , 45 (10) : 33 -42 .
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Year 2025 volume 45 Issue 10
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Article Info
  • Receive Date：2025-04-25
  • Online Date：2026-02-06
  • Published：2025-10-25
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  • Received：2025-04-25
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Affiliations
    1.Changsha Institute of Mining Research Co., Ltd., Changsha, Hunan 410012, China
    2.Central South University, Changsha, Hunan 410083, China
    3.National Engineering Research Center for Metal Mining, Changsha, Hunan 410012, China
    4.Tianjin University, Tianjin 300072, China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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