Project Study of Move-in-mud Robot based on Creeping Principle

摘要

Aimed at updating the present method punching rope-hole in wrecked ship salvaging, the concept of a move-in-mud robot based on creeping principle is proposed for the first time in this paper. Based on the motion mechanism that the earthworm creeps in the mud, the robot can worm from one side of the wreckage vessel to the other side in underwater mud environment, and momentarily adjust its direction and orientation according to the detected position and force information. Combining the impact principle of the underground punch with the creeping mechanism of earthworms, a scheme of a head-punching move-in-mud robot is proposed. Method to detect robot′s position and orientation is stu-died, and the control system project is discussed. Finally, the mechanics model that the robot works in water-mud environment is also founded.