Design and Underwater Tests of Subsea Walking Hexapod MAK-1

Abstract

An important role among machines for sea bottom exploration is assigned to the autonomous ground devices. Some rescue tasks also require subsea robotic devices. The main purpose of the work is to investigate and improve adaptive characteristics, traction properties and control methods of cyclic walking movers in underwater conditions. Traction properties of walking machines, which moves at sea bottom was analyzed. Some experience of development and experimental tests of the walking robot “Vosminog”, designed for work at weak and waterlogged grounds. Dynamic model of a walking machine has been shown. Studied an opportunity to increase adaptive characteristics and shape passableness of walking machines. Also design and results of underwater tests of subsea walking unit MAK-1 are discussed. During tests the performance of a walking unit has been checked and the influence of design features of a walking mover on its traction characteristics and ground passability has been investigated. Some details about control system, power system and energy usage, vertical motions and accelerations for different types of walking and conditions of movement has been given. Also, certain attention was given to testing of methods of standalone movement control of subsea unit in conditions of incomplete and ambiguous vision of current situation. Tests have shown that walking movers in subsea conditions can provide higher traction properties, in comparison with wheeled and tracked ones. The unit can be used for exploration of seabed resources and for rescue tasks.

Practice of methods for remote control of walking robotic mini-dredgers moving along the bottom

“…Underwater experiments were carried out in the conditions of real water bodies of the Volga-Akhtuba floodplain on the basis of a prototype of a walking device (modular hardware complex) with hydromechanical equipment installed on it for eroding bottom soil (Figure 1). The walking apparatus was specially designed to test methods for controlling the movement of walking robotic systems designed to work on water-saturated soils or in underwater conditions [8]. The walking device includes bearing beams on the right and left sides, connected by a frame.…”

“…Communication between the computer and the surface control unit is carried out via RS-485 protocol or Ethernet. The walking mechanisms of the underwater vehicle are cyclic, λ-shaped, with hingedly attached replaceable feet [9]. The walking mechanisms of each side are kinematically connected and work in antiphase (2 walking mechanisms work in same phase, and the middle one in antiphase).…”

Modeling Movement of Supports of Walking Machines with Dynamic Stability by Using a Stand

“…Всемирно известная компания Boston Dynamics создает различные типы шагающих машин [14; 15]. Исследователи сталкиваются с проблемами механики, электроники, вопросами сенсоров [16; 17], а также со сложностью алгоритмов управления движением [18][19][20]. В настоящее время и в нашей стране ведутся научные исследования шагающих машин [21][22][23].…”

On the stability of mobile robots movement with cable propulsion devices

“…In the study of the mobile underwater robot motion which moves along the reservoir's bottom, one of the urgent tasks is to study the translational motion of such robot with walking movers [1,2,3], in particular, the movement of an underwater platform-pontoon using anchor-cable propulsion devices. The principle of moving the underwater platform-pontoon with anchorcable propulsion devices [4,5] is presented in Figure 1.…”