Seabed Mud Mechanics Model Study of a Move-in-mud Robot Based on Creeping Principle

摘要

Aimed at updating the present method for punching rope_hole in wrecked ship salvaging, a creeping principle based move_in_mud robot which can be used in channeling off vessel_raising wire rope in autonomous operation was proposed.Based on the research for seabed mud's engineering behavior,we gave the robot's mechanics model in water_mud environment. Saturated earth's mechanics property under periodical impact was also studied, and the feasibility that the robot can creep under seabed mud environment was theoretically proved.