Modeling and simulation research on move-in-mud robot based on creeping principle

摘要

Move-in-mud robot is one kind of special type robot under water using to salvage sunk ship and belongs to limited working robot. It integrates creeping principle of crawling biology and robot design of high reliability, high aptitude and self-adaptability to realize robotization of perforation in mud. In this paper the system design is introduced about move-in-mud robot, and which mainly includes three parts of robot reality, testing system and controlling system. By virtual assembly designing of move-in-mud robot parts using ADAMS software, the conclusion are drawn that virtual assembly is no interferential, and thus it is proved that structure designing of robot is feasible. The working principle of move-in-mud robot is described in detail. According to the kinetic characteristic of move-in-mud robot, mathematical models of sportive course as robot works are established. The reliability of mathematical models is tested by simulation researching on robot. This paper can provide academic references for selecting diversified parameters in the course of designing and as well as analyzing on dynamics of move-in-mud robot.