Structure design and steering analysis of tracked undersea robot

Tracked undersea observing robot is proposed for the walking environment of soft land under the water. The structure of the robot is designed, and the track tensioning force automatic adjustment structure is put forward, which can conduct real-time adjustment on the track tension according to the change of the road environment, so that it can adapt to the slope and uneven road environment in the environment of soft land. The slope steering stress of the observing robot is analyzed to obtain the variation law longitudinal shift and the variation law of the steering resistance moment of the momentary steering center during the slope steering process, providing reference for the steering control of the undersea observing robot.