Move-in-mud Bionic Robot Based On Creeping Principle Virtual Prototype Research

"Move-in-mud bionic robot based on creeping principle"is a new kind of bionic robot concept, which was put forward by Professor Meng Qingxin from Harbin Engineering University on the purpose of solving the bad working conditions of ship-sunken salvage as well as laying and detecting the soil conduit and correspondence cable. Because the research of"move-in-mud bionic robot based on creeping principle"is very complicated, the experimental prototype being developed was far different from that to be used for engineering. Therefore, in this thesis we carry out systematical analysis, optimal design and valid emulation by integrating the results of Project"Move-in-mud Bionic Robot Based on Creeping Principle Virtual Prototype Research"of the Natural Science Fund in Hei LongJiang Province, build up the virtual prototype based on real working process of the move-in-mud robot and therefore make good preparations for manufacturing a perfect engineering prototype.This thesis first narrates the development condition and tendency of submarine robots both in domestic and abroad. And then it analyses the cankerworm and earthworm's movement principle from the view of bionics and puts forward the realization principle of the move-in-mud bionic robot based on creeping by integrating the practical work characteristics of move-in-mud bionic robot. It presents the design of move-in-mud head based on the strike principle and with the ballonet as the middle and rear support of the robot as well as the design of the turning mechanism which can turn around at any direction by taking the central axis as center. Moreover, it realizes the move-in-mud robot movement simulation on the 3D software.According to the actual working conditions of move-in-mud bionic robot, it is the first time to use the dynamics software to analyze and optimize the move- in-mud bionic head and then arrive at the respective influence on robot during straight and turning movement when the conic angle of move-in-mud head changes. It gets the optimized objective function of the move-in-mud head angle by simulation and optimizes the conic angle of move-in-mud robot head, therefore greatly improves the working performance when robot turns and guarantees the move-in-mud bionic robot turning reliability.At last, it makes the test for the entire robot model by simulation software including the movement test during the entire working cycle as well as the turning test by controlling the turning mechanism. The test results are basically compliance with the target angle. Therefore it makes further preparations for realizing the robot turning control in engineering.