Coupled Dynamic Modeling and Simulation of Seabed Hexapod Robot

With the development of human exploration of the ocean, the manipulation capability of underwater detection equipment in the marine has become one of the key technologies that restrict the development of deep-sea exploration and work. In this paper, we propose a new type of hexapod robot that works on the seabed. Two manipulator arms are installed in the front of the body for mining seabed minerals. In order to design and control a seabed hexapod robot, the dynamics on the seabed are analyzed. Considering the complex seabed environment, the interactions between the arms, legs, body and seabed environment are analyzed and calculated, and a water-terrain-robot coupled dynamic modeling method is proposed. Based on the Vortex simulation platform, a predictive simulation platform for a seabed hexapod robot with two working arms was developed to verify the coupled dynamic model. Simulation results show that the coupled dynamic model is correct.