Elementary Prototype of Move-in-mud Robot

摘要

In this paper, the development of an elementary prototype of the move in mud robot is described. Considering the characteristic that the robot withstands big rotating resistance when advancing in soil, a turning machine with more simplicity and flexibility is designed. A gasbag is adopted as supporting structure, which improves the creeping machine's drive ability. This paper also presents the scheme of sensor detection system to resolve the problem of robot's position and attitude detecting. The control system design and working flow desing of the elementary prototype is carried out. Lastly two level control structure that constitutes superion PC and inferior single chip microcomputer is adopted. Laboratory simulation environment is constructed, creeping in soil experiment is accomplished, and feasibility of general project is proved.