Experimental Analysis of Traction Performance of Tracked Mining Vehicles in Deep-Sea Sediments

The complex seabed topography and mechanical properties of deep-sea sediments impose stringent requirements on the traction performance and locomotion stability of tracked mining vehicles. Experimental investigations on the coupled effects of grouser geometry and operating conditions on traction remain limited. To address this, rheological tests and multi-parameter traction experiments were conducted. Deep-sea sediments were modeled as a power-law fluid to capture their non-Newtonian behavior, considering particle size distribution, water content, and compaction state. Using a self-designed traction test apparatus, the influences of grouser geometry and operating parameters on traction force were systematically analyzed. Results indicate that both grouser configuration and operating conditions significantly affect traction force magnitude and stability. Rectangular grousers, exhibiting more uniform stress distribution and pronounced shear bands, demonstrated enhanced traction efficiency and locomotion stability under high-load, low-speed conditions. When the grouser length was 30 mm and the traveling speed was maintained at 7–12 mm/s, sediment fluidization was significantly mitigated, improving traction performance. Furthermore, a spacing of at least 20 mm between adjacent grousers produced a synergistic effect, increasing sediment shear strength by approximately 30–40%. These findings provide quantitative guidance for grouser design and operational optimization of tracked deep-sea mining vehicles.