Influence of shoe tooth height of tracked vehicle on traction performance and its parameter determination

In order to analysis the influence of height of seabed of track shoe tracked vehicle on traction performance, the shearing strength-shearing displacement model of deep-sea soft sediments were obtained by shearing testing of simulated sediments in testing pool, and then the traction force model of the sediments and the adesion force model of the tracked seabed vehicle were founded. The influence of the height of track shoe on the traction performance of the seabed tracked vehicle was researched by traction force model and adesion force model. According to the research, the traction performance of the vehicle increases with the height of the track shoe on deep-sea soft sediments, and the traction force of the vehicle on sediments increases quickly with the height of track shoe. The adesion force increases quickly when the height of track shoe is less than 15 cm and then increases slowly when it is more than 15 cm. The height of track shoe should be not more than 15 cm.