Methods of engineering and experimental tests of walking crawlers moving on the seafloor

摘要

The practice of underwater technical works sets wide range of tasks, connected with execution of underwater ground works at seafloor. Existing machines, which moves at sea bed (underwater dozers, self-propelled bottom extraction devices, cable layer etc.) have, as a rule, tracked mover. However, conditions of their exploitation, which characterized by the grounds 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 and better traction properties. In the paper results of investigation of walking type of movement in underwater conditions are discussed. Research was carried out at the base of prototypes of walking devices with cyclic type of movers. Their design features are considered. New technical solutions aimed at increasing the cross-country ability, maneuverability, controllability and resistance to overturning of underwater walking robots are proposed. The methodology and results of underwater testing of walking robots are presented. Tests have shown that walking movers in subsea conditions can provide higher traction properties, in comparison with wheeled and tracked ones. Results of the work can be demanded in developing of the walking robotic systems intended for underwater technical works and for new technologies of mining of seabed resources.