SUBSEA INVESTIGATIONS OF TRACTION PROPERTIES AND PASSABILITY OF WALKING UNIT МАК-1
Results of tests of subsea walking unit MAK-1 are discussed. Unit developed for optimization of walking mechanisms settings and adjustment of movement control methods of walking robotic systems, which moves on sea bottom. During tests performance of walking unit have been checked and influence of design features of walking mover on his traction characteristics and ground passability have been investigated. 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 was held at small deeps (up to 20 m). In determining of traction characteristics were observed conditions when foot slipping and slice of ground occurred during straight movement of walking unit with variable hook force. During the subsea tests was used the method, based on video recording of legs of the walking unit movement with frame by frame processing of video on PC. In limited ground passability investigation were discovering conditions, when full loss of passability was observed, which connected with low bearing properties of the ground. For this purpose was realized movement on the most severe, from ground passability point of view, silty bottom areas. Tests have shown that walking movers in subsea conditions can provide more high traction properties, in compare with wheeled and tracked. The analogue of the coefficient of friction for walking machines on low-bearing ground can be more than 1. In result, even on low bearing ground, can be realized traction force on friction, which exceeds weight (of negative buoyancy) of the machine. Best possible traction force on low bearing ground for wheeled and tracked machines usually does not exceed 10 - 20 % of their weight. Held experiments also confirmed significant advantage of ground and shape passability comparing with traditional vehicles. Results of the work can be demand in development of engineering calculating methods and design of subsea robotic systems walking movers, designed for underwater operations and for new technologies development of seabed resources.