System Design Of Move-in-mud Robot And Its Virtual Prototype

Move-in-mud robot is a new-type and special-use underwater robot, which can perform the hole excavating work along the planned trajectory in the mud under water so as to alternate the manual operation of drivers. As the lack of necessary means of communication and testing in the seabed soil environment where move-in-mud robot working, an accident occurs once during the trial or work which will cause inevitably a waste of time and money. Aimed at this problem, an overall technical scheme of bionic move-in-mud robot is presented in this dissertation, and the study of its virtual prototype is carried out. The application of virtual prototype technology to develop the bionic move-in-mud robot based on the creeping principle is an effective way to increase the abilities of technology innovation and development on our own technology. During the early stage of design of move-in-mud robot, those performances, such as bionic mechanism, soil mechanics, kinematics, control strategy, can be proceeded to mathematical modeling and simulation. By this way the overall performances are matched and optimized integrally. Consequently it is of important theoretical significance and academic value to study the virtual prototype of move-in-mud robot based on the creeping principle to shorten the development cycle of product, reduce production cost, improve the quality of design and increase the ability of market competition. Those research works above lay the foundation for the development of experimental prototype of move-in-mud robot. The main contents of this dissertation are given as follows.The research background and meaning of system design of bionic move-in-mud robot and its virtual prototype based on the creeping principle are given, and the present research status of crawing robot and move-in-mud robot at home are summarized. From the product development process point of view, the background, theory and methodology and its engineering application are described. On the basis of three problems of bionic robot, such as mechanism design, modeling and control strategy, the main research contents and technical route of this dissertation are presented by virtual prototype technology.According to the analysis on the physiological structure and movement mechanism of earthworm, an overall technical scheme of move-in-mud robot is presented. Combined with the characteristic of parallel mechanism, the turning joint of move-in-mud robot is studied deeply, and the numerical analysis and computer simulation of its kinematics are carried out. The results show that the turning joint possesses three functions that are push, follow and turning. Meantime, based on research method of parallel mechanism workspace the optimatioan design of assembly plan of turning joint is processed, and based on top-down method the parameterized three-dimentional modeling and automatic assembly of the turning joint are studied. On the basis of analysis on control strategy of autonomous mobile robot, the mixed architecture of move-in-mud robot based on planning and behavior is proposed. Combined with the overall mechanism and movement characteristic, the control strategy of move-in-mud robot is analysed, and the local path planning is designed.The source and distribution of marine sedimentary soil and the engineering property of silt clay are introduced. Using classical soil mechanics theory the force analysis of bionic move-in-mud robot is processed during linear and turning movement from macroscopic view. Using discrete element method the dynamic behavior of soil is simulated so as to reveal the change law of soil from the microscopic view. On the basis of kinematical model of turning joint, the kinematic model of bionic move-in-mud robot is established. These works lay the foundation for the study on virtual prototype of move-in-mud robot.By analysing the integrated principle of information and function of complex product virtual prototype, the parameter-driven architecture of virtual prototype is created and applied to the virtual prototype design of move-in-mud robot by the case analysis way. This architecture provides an effective way to develop complex product, carries out virtual prototype projects and product innovation for enterprise.For the simulation experiment of virtual prototype, the path planning algorithm of obstacle avoidance controller is proposed and verified by simulation experiment. Adoping a variety of computer technologies, the graphical simulation platform of movement process of move-in-mud robot is created at the variouos aspects of data interface module, mathematical operation module, graphical simulation module and hardware interface module. At last, the simulation experiment of working process of move-in-mud robot is carried out.On the bisis of the summaries and the conclusion of all research works, some suggestions and prospects for further researches are put forwards.