Search

In the paper discussed results of investigation of increasing of shape passableness and adaptability to terrain for walking machines and robots with cyclic movers types. Usage of cyclic walking movers allows not to care about gait safety and stability and exclude the necessity in controlled adaptation system. By the other hand, strict trajectory of support points of cyclic type of walking mechanisms restricts abilities of adaptation to support surface and shape passableness of machine. In the paper considered the possibility of passive control of angular position of foot with hinge joint in transfer phase. Cyclic walking mechanism with one controlled degree of freedom was offered, it provides rising of the toe of foot with hinge joint both in straight and reverse movement (without entering an additional controlled actuator). Considered some features of synthesis of similar walking mechanisms. Presented the examples of their design in walking machines, intended for works at weak and waterlogged grounds, the results of real experiments are also shown. Presented, that passive foot control of cyclic mover significantly increases abilities of walking machines to adjust to rough ground and allows to overcome obstacles, which higher than height of support point of walking mechanism by more than two times. Some attention is devoted to the tasks of movement control of walking robotic systems with movers of cyclic type in condidtions of incomplete and ambiguous understanding about obstacle.

Seabed conditions, which are characterized by low bearing ability of ground and rough terrain, often make traditional types of movers inefficient. Walking machines are better for bottom works; they differ in extremely high ground and shape passableness. In underwater conditions, there are certain features of walking mover interaction with ground. In particular, there is “compression effect” on low bearing grounds. At changing of feet, due to rarefaction, which arises under foot in contact phase, the force appears preventing foot breakaway from ground. The paper offers a method of dynamic measurement of the compression effect at subsea ground. The design of electromagnetic stamp device, which is suitable for investigation of the compression effect at subsea ground, is offered. Mathematical modeling its anchor dynamic were carried out during experiments. Based on experimental results of dynamic of the electromechanical system under consideration, a method of processing data of stamp tests has been developed. The obtained results can be useful at development of movers and control systems of underwater walking machines and robots suitable for subsea operations as well as at designing new industrial technologies of seabed resources exploration.