Multi-physical Coupling Dynamics Of Seabed Six-legged Mobile Working Platform

With the deepening of human exploration of the ocean,underwater detection equipment is increasingly used in marine environmental observation,seabed geological survey,and marine resource exploitation.The traditional underwater mobile equipment has poor flexibility and can only be used for long-distance observation and can not carry out the work in the seabed.The seabed six-legged mobile work platform has good stability and strong terrain adaptability,effectively solving the problems of the above traditional underwater working equipment.Based on the research of underwater mobile work equipment and the legged mobile work platform,this paper preliminarily designs a seabed six-legged mobile work platform that can walk and work on the seabed.In this paper,the overall scheme for the seabed six-legged mobile work platform is determined based on the submarine environment,and the configuration of the leg and the arm is analyzed.According to the configuration of the arm and leg of the seabed six-legged mobile work platform,the forward kinematics and inverse kinematics analysis of the arm and the leg are carried out,and the mathematical expressions of the arm and leg joint speed are derived.And the kinematics of the body is analyzed.Based on the kinematics model of the arm,the arm-water coupling dynamics model is established.Based on the kinematics model of the mechanical leg,the leg-water-terrain coupling dynamics model is established.The forces of the arms and the legs on the body is analyzed,and the body-water-terrain coupling dynamics model is established.Based on the Morrison formula,the hydrodynamic terms in the dynamic model are analyzed.The hydrodynamic model of the arm,the hydrodynamic model of the leg and the hydrodynamic model of the body are established.Based on the physical characteristics of seafloor sediments,the simulation of seabed sediments is carried out,and the foot-terrain mechanics model between walking feet and seabed sediments is established.The testing platform of seabed sediment geology is constructed,and the parameters of the foot-terrain mechanics model are identified to establish complete foot-terrain mechanics model.Based on the Vortex dynamics simulation software,the seabed six-legged mobile work platform simulation platform is built,and the hydrodynamic model and the foot-terrain mechanics model are used to carry out the secondary development of the seabed simulation environment of the seabed six-legged mobile work platform.Based on the planned gait and foot trajectory,the dynamic performance of the six-legged mobile work platform in the seabed environment is simulated and analyzed.The simulation results provide reference for the design of the seabed six-legged mobile work platform.