Abstract
A description of the basic physical–mechanical soil characteristics, soil categorization, soil digging resistance and soil trafficability is provided in this chapter. The theory of mechanical demining calculation is shown, based on soil treatment with flail and tiller to a certain soil depth and density for neutralization of mines. Demining machines neutralize buried mines by their destruction to bits or their activation. Moreover, mechanical demining theory is explained on basis of rollers. Emphasis of flail mechanics is given through flail parameters, hammer striking force, hammer force impulse, power requested for machine operation and total required demining machine strength. Flail design is derived, with flail geometry to optimal shapes of a striking hammer, then flail parameters for striking hammers, helixes and flails with relevant values. In addition, described are the means of testing flail durability against mine explosions. While analyzing demining rollers, AT mine destruction reliability is derived together with analysis of factor influence on activation of buried mines.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Abbreviations
- a t [m/s2]:
-
Tangential hammer acceleration
- b [m]:
-
Tool blade width, tooth
- CI [Pa]:
-
Soil cone index
- D [m]:
-
Diameter of wheel
- f k [-]:
-
Rolling resistance coefficient
- F a [N]:
-
Mine activation force
- F i [N]:
-
Hammer force impulse
- F in [N]:
-
Grasping hammers force impulse
- F cf [N]:
-
Flail centrifugal force
- F [N]:
-
Hammer striking force
- F N [N]:
-
Striking force normal component
- F H [N]:
-
Striking force horizontal component
- F 1 [N]:
-
Impact force
- F 2 [N]:
-
Dragging force
- h [m]:
-
Soil cutting depth
- h r [m]:
-
Rotor axis height
- k 1 [N/m2]:
-
Specific cutting resistance
- k [-]:
-
Collision factor
- k o [-]:
-
Relative soil resistance
- L [m]:
-
Cutting tool width
- M [-]:
-
Mathematical expectation
- MMP:
-
[Pa] Mean Maximum Pressure
- MI [-]:
-
Mobility Index
- m h [kg]:
-
Hammer mass
- m c [kg]:
-
Chain mass [kg]
- M u [Nm]:
-
Total flail rotation resistance moment
- M e [Nm]:
-
Moment of eccentric rotor weight
- M μ [Nm]:
-
Friction moment in shaft bearing
- M d [Nm]:
-
Moment of flail to soil friction
- M i [Nm]:
-
Moment of shaft, hammer and chain inertia
- NGP [Pa]:
-
Nominal Ground Pressure
- p i [Pa]:
-
Tyre inflation pressure
- p 1 [%]:
-
Probability that disk sections will hit the mine in minefield
- p 2 [%]:
-
Probability that mine will be activated
- P v [W]:
-
Power required for machine movement
- P r [W]:
-
Power required for machine operation (flail)
- P T [W]:
-
Total power required for machine movement and operation
- P m [W]:
-
Engine power of machine
- r [m]:
-
Hammer rotation radius
- R [%]:
-
Reliability of mine activation
- R 1 [N]:
-
Cutting resistance
- R σi [N]:
-
Non-coherent soil resistance to crushing
- R ki [N]:
-
Coherent soil resistance to digging
- R k [N]:
-
Rolling resistance (wheels/tracks)
- R i [N]:
-
Inertia resistance
- R α [N]:
-
Slope resistance
- Σ R [N]:
-
Movement resistance
- S t [m]:
-
Current cutting layer thickness
- ∆t [s]:
-
Time interval of hammer soil grasping
- t [s]:
-
Acceleration time
- u [m/s]:
-
Circumferential hammer velocity after collision
- v o [m/s]:
-
Circumferential hammer velocity before collision
- VCI [Pa]:
-
Vehicle Cone Index
- w [%]:
-
Moisture content
- W [N]:
-
Wheel load
- Z [m]:
-
Sinkage
- ω [s−1]:
-
Angular hammer velocity
- θ [°]:
-
Hammer striking angle (angle of chain)
- φ [°]:
-
Flail angle
- ε [s−2]:
-
Angular hammer acceleration
- w [-]:
-
Wedge efficiency of striking hammer
- α [°]:
-
Cutting angle
- β [°]:
-
Wedge angle
- γ [°]:
-
Back pin angle
References
Humanitarian demining - Requirements for machines and conformity assessment for machines (2009) Standard HRN 1142, Croatian Standards Institute, HZN 1/2010, Zagreb.
Nell S (1998) Experimental Evaluation of Mean Maximum Pressure (MMP) using Wheeled Vehicles in Clay, Wheels & Tracks Symposium, Cranfield University, Royal Military College of Science, Cranfield.
Sarrilahti M (2002) Soil Interaction Model, Project deliverable D2, Appendix No.2. Development of a Protocol for ECOWOD, Univesity of Helsinky, Department of Forest Resource Management, Helsinky.
Mikulic D, Marusić Z, Stojkovic V (2006) Evaluation of terrain vehicle mobility, Journal for Theory and Application in Mechanical Engineering 48, Zagreb.
Mikulic D (1998) Construction Machines, Design, calculation and use (in Croatian), Zagreb.
Shankhla V S (2000) Unravelling flail-buried mine interaction in mine neutralization, DRES TM 2000-054, Defence Research Establishment, Suffield.
A Study of Mechanical Application in Demining (2004) GICHD, Geneva.
Vinkovic N, Stojkovic V, Mikulic D (2006) Design of Flail for Soil Treatment, 5th DAAAM International Conference on Advanced Technologies for Developing Countries, University of Rijeka, Rijeka.
Suceska M (1999) Calculation of detonation energy from EXPLO5 computer code results, Propellants, Explosives, Pyrotechnics 24/1999.
MV-4 Mine Clearance System (2012) Catalogue, DOK-ING Ltd, Zagreb.
Mikulic D (1999) Demining techniques, modern methods and equipment, Demining Machines (in Croatian), Sisak, Zagreb.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2013 Springer-Verlag London
About this chapter
Cite this chapter
Mikulic, D. (2013). Mechanics of Machine Demining. In: Design of Demining Machines. Springer, London. https://doi.org/10.1007/978-1-4471-4504-2_2
Download citation
DOI: https://doi.org/10.1007/978-1-4471-4504-2_2
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-4503-5
Online ISBN: 978-1-4471-4504-2
eBook Packages: EngineeringEngineering (R0)