Analysis of Rheological Characteristics of Deep-sea Mining Robot’s Roller

Many concepts for the commercial production of deep-seabed manganese nodules have been studied since the 1970s. However, the bearing capacity of the deep seabed is not strong because it is composed of fine particles with high moisture content. So it is impossible to carry manganese nodules in the collection system. Therefore, the validity of continuous mining by riser pipe from the seabed to the vessel is highly appreciated. A continuous mining system is composed of mining vessel, lifting pipe, buffer system, transport tube (flexible pipe), and self-propelled mining robot. A conceptual diagram of this system is shown in Fig. 1(a). Korea Research Institute of Ships and Ocean Engineering (KRISO) developed a deep-seabed self-propelled mining robot called "MineRo" to collect manganese nodules in 2012 (as shown in Fig. 1(b)). In 2013, real sea experiments at around 1380 m depth were carried out to evaluate the collecting and driving performance of MineRo. However, we found that the roller in MineRo did not work well at times. To elucidate the problem, we analyzed the rheological characteristics between the bushing and drive shaft under deep-water conditions.