Dynamic measures of the force of foot breakaway from ground of deepwater walking machines

Seabed conditions, which are characterized by low bearing ability of ground and rough terrain, often make traditional types of movers inefficient. Walking machines are better for bottom works; they differ in extremely high ground and shape passableness. In underwater conditions, there are certain features of walking mover interaction with ground. In particular, there is “compression effect” on low bearing grounds. At changing of feet, due to rarefaction, which arises under foot in contact phase, the force appears preventing foot breakaway from ground. The paper offers a method of dynamic measurement of the compression effect at subsea ground. The design of electromagnetic stamp device, which is suitable for investigation of the compression effect at subsea ground, is offered. Mathematical modeling its anchor dynamic were carried out during experiments. Based on experimental results of dynamic of the electromechanical system under consideration, a method of processing data of stamp tests has been developed. The obtained results can be useful at development of movers and control systems of underwater walking machines and robots suitable for subsea operations as well as at designing new industrial technologies of seabed resources exploration.