Forces Prediction of Underwater Soil Cutting by Excavating Robots

The paper deals with the problem of forecasting forces, acting on operating devices (blades) of underwater excavating robots in the course of soil cutting, by means of mathematical simulation methods. To this end, the structure of soil underwater cutting process has been represented as three interacting subsystems: operating device, soil medium and water medium. The processes of cutting forces time variations have been formalized for the most probable types of chips formation. The approach under consideration simplifies significantly construction of generalized model for cutting processes and development of software for analysis. Simulating algorithm has been developed in block form, which allows determination of regularities for cutting forces variations, depending on the extent of acting factors influence. Computations error with regard to the basic parameters of the process hasn’t exceeded 20% as compared to that of experimental data.