Abstract
In order to clean underwater silt in artificially constructed rivers, lakes, and fish ponds, for which no suitable tool exists, a tool has been developed that imitates the structure and movement of the tortoise’s legs, and designs a four-legged dredging robot that can adapt to the complex underwater environment. The article uses the transformation matrix to analyze the kinematics of the dredging robot, determines the movement sequence of the outriggers according to the principle of stability, and analyzes the movement characteristics of the three gait modes. Then, we combined the control function of the foot trajectory with the experimental prototype based on the bionic tortoise mechanism to carry out a walking experiment. During the experiment, the motion stability is good. Additionally, the changes in the position, the posture of the outriggers, and the body prove that the movement stability of the dredging robot using coordinated gait, mixed gait, and intermittent gait has increased sequentially.
Highlights
With the continuous development of industry, more and more garbage and waste are produced
In some fish ponds and small rivers, dredgers are inconvenient to start work and are not appropriate; there is a need for dredging equipment that can walk freely underwater [5,6]
Underwater dredging equipment can be divided into wheeled crawler, and foot equipment according to the walking mode underwater [7]
Summary
With the continuous development of industry, more and more garbage and waste are produced. At present, wheeled and crawler dredging equipment is widely used because of their fast underwater movement speed and good stability [8]. The stair climbing capability and walking capability on uneven terrains of footed robots are better than crawler and wheeled equipment. In 2015, Boston Dynamics developed Spot, a light hydraulic quad rouf 1p8ed robo weighing 72.6 kg, which is more flexible in movement These four-legged robots have good movement ability on rugged terrain, but the load is small, and they are not suitable ofonraunnydteerrrwaiante[1r3d].rIend2g0i1n0g, Cwloaurkdi[o1,5f]r.oTmhtehreefIotarleia, nitIinssvtieturytemofeTaencihnngofluolgtyo, ddeevveeloloppeda type o tshilet-HreymQohvyidnrgaurloicbqout atdhrautpceadnrmoboovt,ewshteicahdwilyeioghnsi7rr0ekggualanrdtcearnracirnawanl sdtacbalryroynarcuegrgteadin load a ttehrerasianm[1e4]t.imIne2.015, Boston Dynamics developed Spot, a light hydraulic quadruped robot wgoeoigdhIminnog1v9e76m25.6e, nHktgia,lbdwielihbtiyrcahonnidsrummgoagrdeedefltteehxreriabfiliner,sibntummt taohjvoeerlmopaerdnotig.srsTemhsseaslilen, afqonuudrat-dhlereguygpaeerdedrnogobatoisttu.siHhtaaebvldeeescribed faonrduncdoemrwpaatreerddtrhedegqinugadwrourpke[1d5]g.
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