Multiscale track-seabed dynamic interaction during deep-sea seabed mining across operational modes

Abstract

Deep-sea mining has emerged as a critical solution to address global resource shortages; however, the mechanical interaction between tracked mining vehicles (TMVs) and soft seabed sediments presents fundamental engineering challenges. This study establishes a multiscale modelling framework coupling the discrete element method (DEM) with multi-body dynamics (MBD) to investigate track-seabed dynamic interactions across three operational modes: flat terrain, slope climbing, and ditch surmounting. The simulation framework, validated against laboratory experiments, systematically evaluates the influence of grouser geometry (involute, triangular, and pin-type) and traveling speed (0.2-1.0 m/s) on traction performance, slip rate, and ground pressure distribution. Results reveal rate-dependent traction mechanisms governed by soil microstructural responses: higher speeds enhance peak traction but exacerbate slip instability on complex terrain. Critical operational thresholds are established-0.7 m/s for flat terrain, ≤0.5 m/s for slopes and ditches-with distinct grouser optimization strategies: involute grousers achieve 35%-40% slip reduction on slopes through progressive soil engagement, while triangular grousers provide optimal impact resistance during ditch crossing with 30%-35% performance improvement. These findings provide quantitative design criteria and operational guidelines for optimizing TMV structural parameters and control strategies, offering a robust theoretical foundation for enhancing the performance, safety, and reliability of deep-sea mining equipment in complex submarine environments.

Keywords

Deep-sea mining / Tracked mining vehicle / Track-soil interaction / DEM-MBD coupling / Soft seabed sediment / Operational performance

Acknowledgments

This work is financially supported by the National Key Research and Development Program of China - Young Scientist Project (No. 2024YFC2815400) and the National Natural Science Foundation of China (No. 52588202).

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