水下仿生拱泥机器人方案研究  

A Prototype of the Underwater Move-in-Mud Robot

作　　者：张英[1] 孙虎[1] 胡勇[2] 朱美琪[2] 

机构地区：[1]武汉理工大学物流工程学院,湖北武汉430063 [2]武汉理工大学交通学院,湖北武汉430063

出　　处：《武汉理工大学学报（信息与管理工程版）》2005年第4期43-46,共4页Journal of Wuhan University of Technology：Information & Management Engineering

摘　　要：针对目前沉船打捞中潜水员人工穿千斤作业的现状,根据仿生蠕动原理,提出了一种水下仿生拱泥机器人的设计方案。该机器人可在水下淤泥环境中沿着预定路径,拖曳千斤引缆横穿沉船底部,并随时根据检测到的方位和环境信息调整运动方向,代替潜水员完成穿引千斤的作业任务。According to the present situation of driver's excavating holes artificially in ship-sunken salvage, a prototype of bionic move-in-mud robot is presented by virtue of bionics principle. This robot can pull the guiding cable crossing the sunken ship bottom along the designed route in the under-water silt environment, and adjust its moving direction according to the position information and environment information it detects at any time. This robot can replace drivers to finish formidable tasks of excavating holes and pulling cables.

关 键 词：沉船打捞 蠕动原理 拱泥机器人 方案设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]