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To evaluate the tractive performance of tracked trencher on seafloor surface, a new shear stress-displacement empirical model was proposed for saturated soft-plastic soil (SSP model). To validate the SSP model, a test platform, where track segment shear test can be performed in seafloor soil simulacrum (bentonite water mixture), was built. Series shear tests were carried out. Test results indicate that the SSP model can describe the mechanical behavior of track segment with good approximation in seafloor soil simulacrum. Through analyzing the main external forces applied to seafloor tracked trencher during the uniform linear trenching process, a drawbar pull prediction model was deduced with the SSP model. A tracked walking mechanism of the seafloor tracked trencher prototype was built, and verification tests were carried out. Test results indicate that this prediction model was feasible and effective; moreover, from another side, this conclusion also proved that the SSP model was effective

Tractive performance evaluation of seafloor tracked trencher based on laboratory mechanical measurements