Research of Six−legged Walking Robot For Use in Ocean Crust Mining

It is important to establish an appropriate transporting machine on the seafloor for deep ocean mining of cobalt-rich manganese crusts, as the physiognomy of cobalt-rich manganese crusts is complex and often varies. In view of the complexity of terrain of cobalt-rich manganese crusts and huge weight that need to be supported during ocean mining, a project of the six−legged walking robot driven by hydraulic means is proposed. A cylindrical−pantographic leg mechanism is adopted. Design of leg mechanism and driven theory is also accomplished, motion simulation is carried out. This kind of walking robot can be used as agile omni−directional walking mechanisms. The research may supply some helpful reference to the choice of a transporting machine for deep ocean mining of cobalt-rich manganese crusts.