Enhancing Performance Metrics of an Electrical-Powered Subsea Robotic Dredging Crawler Across Varied Inclination Angles

Authors

  • Mike Oluwaseun Ojumu Cape Peninsula University of Technology
  • Raji Atanda Kamoru Electrical, Electronic, and Computer Engineering Department; (Cape Peninsula University of Technology); Bellville, Western Cape, South Africa.
  • Efe Francis Orumwense Mechanical and Mechatronic Engineering Faculty of Engineering and the Built Environment; (Cape Peninsula University of Technology); Bellville, Western Cape, South Africa.

DOI:

https://doi.org/10.17159/

Abstract

This research paper introduces a novel passive method for ocean mining using an electric-powered robotic subsea dredging crawler (EPRSDC) designed to operate in various subsea conditions, including unstructured and rough terrain. The EPRSDC is equipped with two driving tracks and features a complex assembly of tank tread chain link, tank tread idler wheels, tank tread sprockets, bronze bushings, motor hub, motor mount, and a 12-volt DC motor. To evaluate the performance of the EPRSDC, it was compared with existing ocean hydraulic exploration crawlers, such as MK3 ROST, in terms of drive performance on an inclined ramp with five angles of inclination (00, 150, 200, 250, 300). The experiment aimed to determine the maximum velocity, torque, and efficiency of the crawler at different angles of inclination. The collected data were analyzed and plotted using Python, and the effect of the EPRSDC's weight on its driving performance was also considered. The results of this study demonstrate a quadratic relationship between driving performance and inclination angle, which can be used to optimize the EPRSDC's performance for future ocean mining robot drive applications.

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Author Biographies

  • Mike Oluwaseun Ojumu, Cape Peninsula University of Technology
    PhD student in Mechanical Engineering at the Cape peninsula University of Technology
  • Raji Atanda Kamoru, Electrical, Electronic, and Computer Engineering Department; (Cape Peninsula University of Technology); Bellville, Western Cape, South Africa.
    A/Prof in Electrical, Electronic, and Computer Engineering Department; (Cape Peninsula University of Technology); Bellville, Western Cape, South Africa.
  • Efe Francis Orumwense, Mechanical and Mechatronic Engineering Faculty of Engineering and the Built Environment; (Cape Peninsula University of Technology); Bellville, Western Cape, South Africa.

    Doctor in Mechanical and Mechatronic Engineering Faculty of Engineering and the Built Environment; (Cape Peninsula University of Technology); Bellville, Western Cape, South Africa.

Published

2026-01-19

Issue

Vol. 125 No. 9 (2025): SAIMM Journal

Section

Deep Mining 2019

License

Copyright (c) 2026 Mike Oluwaseun Ojumu, Raji Atanda Kamoru, Efe Francis Orumwense

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