基于蠕动原理拱泥机器人的海洋土力学模型研究  

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

作　　者：魏洪兴 王立权[1] 袁鹏 王岚[1] 杨青梅 孟庆鑫 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2000年第4期36-40,共5页Journal of Harbin Engineering University

基　　金：国家自然科学基金! ( 698850 0 3);黑龙江省自然科学基金资助项目

摘　　要：针对目前沉船打捞攻打千斤洞的现状 ,提出了自主作业穿引抬船用钢缆的基于蠕动原理的拱泥机器人 .在对海洋沉积土的工程性质进行研究的基础上 ,建立了拱泥机器人在水中泥土环境中作业的力学模型 ,对海底饱和淤泥质粘土在周期性冲击载荷作用下的力学性质进行了研究 ,从理论上证明了拱泥机器人在海底泥土环境中爬行的可行性 .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.

关 键 词：沉船打捞 蠕动原理 拱泥机器人 海洋土力学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]