基于蠕动原理拱泥机器人的力学模型分析  

Analysis on the Mechanical Model of Move-in-mud Robot Based on Creeping Principle

作　　者：谢方明[1] 任福君[1] 张岚 张玲[2] 冯彦华[2] 

机构地区：[1]哈尔滨理工大学机械动力工程学院,黑龙江哈尔滨150080 [2]佳木斯大学机械工程学院,黑龙江佳木斯154007

出　　处：《佳木斯大学学报（自然科学版）》2006年第2期229-231,共3页Journal of Jiamusi University：Natural Science Edition

摘　　要：针对目前沉船打捞主要采用攻打千斤洞的现状,提出了基于蠕动原理能够自主攻打千斤洞的拱泥机器人,由于拱泥机器人工作环境的特殊性,对海底淤泥层在拱泥头作用下的力学性能进行了分析,并建立了拱泥机器人在泥中的力学模型,为仿生拱泥机器人动力学分析与仿真奠定了基础.Aimed at renovating the present method for punching rope- hole in wrecked ship salvaging, a creeping principle based on move - in - mud robot which can be used in excavating the channel of ship - raising was proposed. Due to the robot＇s working environment, after analyzing the mechanical model of dirt bed under the shock action, we also gave the mechanical model of robot in water- mud environment, whose study results provide the foundation for building more bionic robot based on creeping principle.

关 键 词：蠕动原理 拱泥机器人 海洋土力学模型 

分 类 号：TB24[一般工业技术—工程设计测绘]