Trafficability and Performance Analyses for a Deep Ocean Running Gear Module For an Undersea Vehicle

A deep ocean vehicle which maintains contact or interacts with the seafloor through a properly functioning active running gear system offers improved capabilities for search, salvage, and other work missions on the seafloor. The major technical problems involve trafficability and the maintenance of mobility while maneuvering on weak seafloor soils. An additional major consideration is the mechanical configuration of such a system as it impacts trafficability, vehicle performance, and support requirements. This paper summarizes the results of an investigation into the expected performance of a running gear module for use as an accessory to an existing unmanned deep ocean vehicle. This module is designed to provide improved vehicle performance in terms of bottom position control, work capabilities, and resistance to or reaction for larger forces. The major emphasis in this paper is placed on likely seafloor conditions to be encountered, trafficability and soft soil mobility analyses including an analysis of relevant past experience, vehicle work capabilities and support requirements and restraints imposed on the host vehicle. It is concluded that a lightweight running gear module using either continuous belt type tracks or Archimedean screws will perform satisfactorily.