文献类型：期刊文献

英文题名：A comparative study of two numerical models for simulating track plate-soft soil contact behaviors of underwater mining crawler robots

作者：Sun, Pengfei[1];Lu, Hao[1];Wu, Qiufan[1];Yang, Qiang[1]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai, Peoples R China

年份：2026

外文期刊名：SHIPS AND OFFSHORE STRUCTURES

收录：;EI(收录号：20261420436400);WOS:【SCI-EXPANDED(收录号:WOS:001731563200001)】；

基金：This work was supported by the National Natural Science Foundation of China [grant number 52025103].

语种：英文

外文关键词：Underwater mining crawler robots; seabed soil; soil thrust; CEL method

摘要：To address the stable traction issue of underwater mining crawler robots (UMCRs) in deep-sea soft soils, this study focuses on the soil thrust of track plates. Theoretical calculation formulas for soil thrust under triangular, trapezoidal and block-shaped failure modes are derived, with key influencing factors determined. Numerical models of single-grouser and multi-grouser systems interacting with soil are established using the Coupled Eulerian-Lagrangian (CEL) method. Results reveal that soil shear strength is linearly and positively correlated with thrust, while ground pressure shows a nonlinear positive correlation with saturating growth at high pressure. Soil disturbance between adjacent track plates only changes failure modes without affecting thrust magnitude. This research provides a technical reference for evaluating the environmental adaptability of UCMRs in complex terrains.