Abstract
The problem of lifting the foot of the walking propulsion device of an underwater mobile robot is considered, taking into account the additional “compression” force acting on it. A mathematical model has been developed for the detachment of a propulsion foot from the ground, based on Henry's laws establishing the concentration of dissolved air in a liquid, the law of gas expansion at a constant temperature, Darcy's law on fluid filtration and the theorem on the motion of the center of mass of a solid body. The linearized model allows to obtain and analytical solutions. Based on the solution of the variational problem, optimal modes of lifting the foot of the walking propulsion of an underwater mobile robot are established.
Highlights
A feature of ground-based mobile walking robots is the discreteness of the interaction of the propulsion device with the ground
The phase of interaction with the supporting surface in which the traction properties of the propulsion device are realized is distinguished, and the transport phase in which the foot of the propulsion device moves in space and takes a new position on the ground
The optimality criteria can be different and additively include indicators differing in their significance, such as, for example, the level of heat loss in the engines, the force developed by the drives, the transfer time, in general, and the raising and lowering of the foot, in particular [3]
Summary
A feature of ground-based mobile walking robots is the discreteness of the interaction of the propulsion device with the ground. – additional resistance force acting on the foot of the mover when it is separated from the bottom during the rise [4], [5], due to the adsorption of gases dissolved in water and slow filtration of the liquid in the soil [6], [7] The latter leads to the so-called compression effect, which consists in the fact that there is a significant force that impedes the shear and tearing of the propulsion device support from the bottom soil. Overcoming the negative consequences of the “compression” effect can go in different directions: improving the construction of supports, introducing additional mechanisms that violate the conditions for this effect to occur, as well as constructing such laws for controlling the movement of the support of a walking propulsion device that would provide a minimum of energy for lifting, a minimum of forces developed by the drive, or other performance indicators, or a comprehensive criterion that takes into account part or all of the possible quality indicators. To select a drive that provides a foot lift for walking robots developed at the Volgograd State Technical University [8], [9], it is necessary to establish patterns that ensure the optimal movement
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