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Research of the walking type of movement in underwater conditions

机译：水下条件下行走类型的运动研究

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Underwater robotic systems have an important role in execution of ground works on sea bottom. The practice of underwater technical works sets wide range of tasks, connected with execution of such works at sea bed (cable deployment, mining, alignment of squares on the bottom, archeological works under water, etc.). Exploitation conditions of machines for underwater ground works, which characterized by the soils with low bearing ability and rough terrain, often make traditional types of movers unusable. For underwater conditions walking movers are better, they have higher ground and shape passableness. Also, walking machines have better traction properties. In the paper design and results of investigation of walking type of movement in underwater conditions are discussed. Research was carried out at the base of prototype of walking hexapod MAK-1. The device developed for dynamic analysis, adjustment of control methods and walking mechanism parameters optimization in underwater conditions. During experiments in underwater conditions walking unit performance was checked and influence of walking mover design features on his dynamics, maneuverability, stability, traction characteristics and passableness has been investigated. The conducted research showed that in underwater conditions walking mover can provide better passableness, than tracked and wheeled machines. Also, it was clarified that suggested mover scheme with independent drives of right and left side can provide high maneuverability and turn with radius equal to 0 on weak soils. The results can be used for development of robotic systems for ground underwater technical works and for new industrial technologies of exploration of seabed resources.
机译：水下机器人系统在海底的地面工作中具有重要作用。水下技术工程的做法包括各种任务，与海上床（电缆部署，采矿，底部的方块对齐，水下的正方形对准等）有关的各种任务。水下地面工程机器的开发条件，其特点是具有低承载能力和崎岖地形的土壤，通常使传统的搬运工不可用。对于水下条件，步行搬运工更好，它们具有更高的地面和形状的可线性。此外，步行机具有更好的牵引性能。讨论了纸质设计和对水下条件下行走类型的研究的研究。研究是在步行六角麦MAK-1原型的基础上进行的。该装置开发用于动态分析，调整控制方法和水下条件的步行机制参数优化。在水下条件下的实验期间，研究了行走单元性能，并研究了行走动力设计特征对他的动态，机动性，稳定性，牵引特性和可线性的影响。进行的研究表明，在水下条件下，行走动机可以提供比跟踪和轮式机的更好的可线性。此外，澄清了右侧和左侧独立驱动的建议的动机方案可以提供高机动性，并在弱土壤上以等于0的半径转动。结果可用于开发地面水下技术工程的机器人系统和探索海底资源探索的新工业技术。

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