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.
As cobalt-rich manganese crusts are found throughout the global oceans on the flanks summits of seamounts, these seamounts can be huge, the terrain of the seamount is complicated and changeful, so it is important to establish an appropriate vehicle for deep ocean mining of cobalt-rich manganese crusts. The research on tracklayer, autonomous underwater vehicle (AUV), wheeled vehicle used in ocean mining has been carried out (Wang, et al., 2003) and many valuable data are achieved. Another method of walking machines in land is also researched (Salmi and Halme, 1996), but compared with the underwater vehicle, most of the land walking machines are smaller in size and weight to support (Zielinska, and Heng, 2002; Tang, et al., 1990). Considering complexity of terrain (Chung, 1994; Yamazaki, et al., 2002) of cobalt-rich manganese crusts and huge weight that need to be supported during ocean mining on the actual condition of China investigation region, the following parameters are required: climbing slope ≥ 20º, climb obstacle height is 0.4m, stride trench width is 0.6m.
