Analysis of the Driving Characteristics of a Track Module for Underwater Robot

In this study, we developed a multi-body dynamics track model with continuous track links, using low mobility, based on a remotely operated underwater vehicle. To evaluate its performance during driving, a track model, including rigid and bushing components, was developed and analyzed. The driving torques of the model on a bumpy road were observed to be 568.70 kNm, 680.97 kNm, and 805.34 kNm at slope angles of 10 degrees, 20 degrees, and 30 degrees, respectively. On the driving road with dynamic friction coefficients of 0.2 and 0.6, the driving torques were observed to be 52.97 kNm and 59.38 kNm, respectively, for a load of 200 kg, and 76.87 kNm, 93.29 kNm, respectively, for a load of 400 kg; and 77.57 kNm and 125.90 kNm, respectively, for a load of 600 kg. Through simulation, the required torque performance of the track robot was identified; this is expected to be used for experimental validation and comparison modeling in the future.