Research On Turing Device And Posing Measure Of "Dragon Of Puncturing Mud" Robot

The robot technical development is a important symbol and embody of a national high-tech level and industry roboticized. "Dragon of puncturing mud" robot is one kind robot of special type, which integrates equipment briefness and manipulating facility of impacting mole in trenchless technology and high reliability, better aptitude and strong self applicability of robot designing, trenchless technology level will be greatly increased. There are abroad appliance foreground and developing value as it can mainly pave PE pipe, PVC pipe, cable and optical fiber cable under the mud.In ideal state, "Dragon of puncturing mud" robot is a kind of trenchless device that can walk by itself in the mud. It is controlled by the computer to enter into the mud, follow the scheduled trace, avoid the obstacles or correct the errors and come out the mud from the other side finally.The research works in this paper are supported by "dragon of puncturing mud" robot sample making of The Heilongjiang Science Technology Emphases Project. According to the robot working character and principle, it is finished that every models of robot is established and analyzed, moreover, including trajectory planning and robot posing measure system and control system researching and so on.Firstly, the developing actuality of impacting mole at home and abroad in trenchless technology is summarized, in which the turning mechanism of impacting mole controlled its direction and general situation of drilling bore radio-detection in measure technology is emphases presented. And application status in robot scopes of virtual prototype technology is briefly summed up.It is discussed about the collectivity scheme of "Dragon of puncturing mud" robot and researched on the bore mechanism which is impacted by the robot in the mud. The FEA model of robot in the mud is established by exerting Drucker-Prager rule and regarding mud as DP materials and presuming mud's transfiguration as ideal spring-mold character. The receive force of robot and...