Minimization of Energy Costs for Movement Resistance of Ground for Walking Device by the Control of Support Points Motion

Abstract

Tests show that they are simple and reliable and can work effectively in extreme conditions, for example, on waterlogged and underwater soils. The disadvantage of cyclic walking mechanisms is the constant “program” trajectory of the support point. This limits the abilities of the walking machine on the shape passability. In the underwater walking machine MAK-1, the possibility of adjusting the program movements of the legs was achieved by introducing an additional controlled degree of freedom into the mover. Thus, the control (within a limited range) of the movement of the control points is achieved. Changing the law of motion of the support point leads to a change in the structure of energy consumed by the movement. The paper considers a possibility of mutual compensation of energy consumption for pressing the soil with other components of energy consumption by controlling the movement of the support points of the walking mover. A comparative analysis of energy consumption for the movement of the wheel and walking mover in the low-speed range is also carried out. The analysis is based on the results of dynamic modeling and generalization of experience in the development of experimental walking machines units. It is shown that via controlling the movement of the points of the walking mover, it is possible to achieve a reduction in energy consumption for the ground resistance to the movement of the walking device. The reduction appears at the cost of recuperation of energy spent on lifting the machine body in each cycle of movement.