Key Takeaways & Executive Findings
- •• A DEM-MBD multiscale framework accurately simulates track-seabed interactions across flat, slope, and ditch terrains. • Traction performance is rate-dependent: higher speeds increase peak traction but worsen slip instability on complex terrain. • Optimal speed thresholds are 0.7 m/s for flat terrain and ≤0.5 m/s for slopes and ditches to ensure stability. • Grouser design optimization: involute grousers reduce slip by 35–40% on slopes, while triangular grousers improve ditch-crossing performance by 30–35%.
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.
1. Introduction
Global industrialization has intensified resource scarcity, making deep-sea mineral extraction a critical solution. Seabed resources are superior to terrestrial deposits in terms of reserves, distribution, and ore grades, positioning them as essential for addressing global shortages [1,2]. The deep-sea floor harbours extensive polymetallic nodules (Fig. 1) rich in valuable elements such as nickel, cobalt, and rare earth metals, which hold significant economic and strategic value [3]. However, comprehensive geological surveys indicate that these mineral-rich regions are characterized by thick, widespread sedimentary soils with complex geotechnical properties, presenting substantial engineering challenges [4]. The primary technical hurdle for deep-sea mining is therefore the safe and efficient extraction of these nodules [5].
Extensive sea trials, considering factors like cost and commercial viability, have identified pipeline lifting systems as the most feasible mining method [6]. These systems critically depend on deep-sea mining vehicles for seabed extraction and collection operations [7]. Consequently, tracked mining vehicles (TMVs) have become the dominant locomotion mechanism due to their superior load capacity, mobility, and terrain adaptability [8]. In deep-sea mining operations, the mechanical properties of soft seabed sediments are paramount to the traction performance and operational safety of mining vehicles. An incompatibility between the locomotion mechanism and soil characteristics can lead to excessive settlement, tilting, or track slippage [8], highlighting the necessity of understanding deep-sea soft soil behaviour. The track-sediment interaction is complex and requires multiscale investigation.
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Bin Zhu, Xianhao Xiu, Ying Lai, Yunmin Chen, Viroon Kamchoom, Anthony Gunawan, Ruishi Zhang, Shusen Xiong (2025). Multiscale track-seabed dynamic interaction during deep-sea seabed mining across operational modes. SinoTechIntel Verified Research. https://doi.org/10.1016/j.ijmst.2025.10.007
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Frequently Asked Questions
What is the main objective of this study?
The study aims to investigate the dynamic interaction between tracked mining vehicles (TMVs) and soft seabed sediments across different operational modes (flat terrain, slope climbing, ditch surmounting) using a multiscale DEM-MBD framework, to provide design and operational guidelines.
How was the simulation framework validated?
The DEM-MBD simulation framework was validated against laboratory experiments, ensuring its accuracy in predicting track-seabed interactions.
What are the recommended speed limits for TMV operations?
The study establishes critical speed thresholds: 0.7 m/s for flat terrain and ≤0.5 m/s for slopes and ditches to maintain stability and avoid excessive slip.
Which grouser type is best for slope climbing?
Involute grousers are optimal for slope climbing, achieving a 35%–40% reduction in slip rate through progressive soil engagement.
How does traveling speed affect traction performance?
Higher speeds increase peak traction but exacerbate slip instability on complex terrain, indicating a trade-off between traction and stability.
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