Minimole: Development And Field Testing Of A Narrow-Vein Hard Rock Mechanical Mining Machine

This paper describes highlights of the Placer Dome MiniMole project - the development and testing of a robotic machine for mining narrow ore veins. A prototype hydraulically controlled robotic machine was built and tested. The machine provided a platform for testing numerous cutters in the field. Other cutters, e.g. undercutting devices, were tested in the lab. Extensive analyses were done on specific energies and cutter penetration. Three sets of quarry trials were done, then the machine was tested in an underground mine. Rock UCS values varied from 180 MPa to 230 MPa. The paper includes lessons learned and recommendations based on the project findings.