A kinematic and sensitivity analysis of pick-up device of deep-sea manganese nodule collector

A kinematic investigation is done for a hybrid pick-up device, whose design concept has been adopted for an environmentally favorable separation of manganese nodules out of deep-seabed sediment laver. In order to investigate motion controllability of the pick-up device, kinematic analysis is conducted, An inverse dynamic analysis provides driving forces of hydraulic cylinders and reaction forces at each joint between structure elements in the pick-up device, A design sensitivity analysis is performed in order to examine change effects of design variables on the maximum strokes of the hydraulic cylinders, The direct differentiation method is used to obtain some design sensitivity coefficients of the pick-up device.