深海大型爬行机器人研究现状

对海底不同作业形式的深海大型爬行机器人进行了分类综述，依据当前深海大型爬行机器人在各方面的应用，将其分为了深海采矿机器人和深海挖沟机器人两大类，并对这两类中的一些性能突出的机器人进行了详细的介绍。重点介绍我国第一代、第二代多金属结核采矿机器人，SMD的3个多金属硫化物开采机器人，中科院深海所的富钴结壳规模采样爬行机器人，喷射式挖沟爬行机器人QT2800和机械式挖沟爬行机器人BT2400。并对深海大型爬行机器人的海底复杂行走技术和导航定位技术进行了阐述。行走技术方面，重点介绍Nexans公司的带有铰接式行走腿系统的Spider Dredger，中南大学的铰接履带式采矿机器人和北京矿冶研究总院的复合轮式机器人。导航定位方面，介绍了当前一些在用的深海导航定位技术。最后，对未来深海大型爬行机器人的发展趋势进行了展望。

The development of deep-sea large-scale crawling robots

The large-scale deep-sea crawling robots with different operating forms on the seabed are classified and summarized. According to the current applications of large-scale deep-sea crawling robots in various aspects, these robots are divided into two categories:deep-sea mining robots and deep-sea trenchers. Some of the outstanding robots in these two categories are introduced in detail, focusing on the first and second Chinese generation polymetallic nodule mining robots, three kinds of polymetallic sulphide mining robots from SMD, a cobalt-rich crust mining sampling crawler from Chinese Academy of Sciences Institute of Deep-Sea Science and Engineering, a jet trenching crawler robots QT2800 and the mechanical trenching crawling robot BT2400. In addition, the article also expounds on the complex seabed walking technology and navigation&positioning technology of large-scale deep-sea crawling robots. In terms of walking technology, Nexans'' Spider Dredger with articulated walking leg system, the articulated crawler mining robot of Central South University and the compound wheeled robot of Beijing Research Institute of Mining and Metallurgy are introduced. In terms of navigation and positioning, some current deep sea navigation and positioning technologies are introduced. At last, the future development trends of the large-scale deep-sea crawling robots are discussed.