Bionic Arch Mud Robot Is Key Technology Of Virtual Prototype

Bionic move-in-mud robot is a special underwater robot as the background that isdangerous operations of divers attack the extremely heavy hole. There is different workingenvironment between experimental prototype and engineering machine of move-in-mud robot,the purpose of the study is also not the same. In this paper, on the basis of a comprehensivesummary latest research of move-in-mud robot, combined with science technology key projectof ministry of education “Force field modeling and simulation studying on the mechanism ofmove-in-mud robot”, cultivation of talents of the new century project of colleges ofHeilongjiang province “study on key technology of modeling and simulation of multibodysystems”, the education science and technology plan project of Heilongjiang ProvincialDepartment “Virtual Prototyping Technology of Move-in-mud Robot”, the key technology ofvirtual prototyping of bionic move-in-mud robot is in-depth researched and innovative designe.The main contents are as follows:First of all, describing research status of bionic move-in-mud robot and the existingdeficiencies in the research process according to a lot of literature at home and abroad. Byanalyzing the job requirements of robot, learning from and absorbing existing technologies andmethods, design scheme of article is raised. This programme is supported by hydraulic system,supporting institutions, steering knuckle and attacking clay bodies. Peristaltic movement isimplemented by alternating movement of supporting institutions, steering knuckle and attackingclay bodies. Based on parametric design, the parametric design of move-in-mud robot willparameters of organic structure and environmental field model combine together then establishparameter database for move-in-mud robot.Base on structure size of the bionics Move-in-mud robot, taking advantage of Lagrangemodeling method to establish dynamic model of bionic move-in-mud robot, then simulationanalysis of dynamic model and working space of3-UPS parallel mechanism are carried out byusing MATLAB, draw the curve of the driving force and torque to provide a reference for thebody structure design. Using ABAQUS of finite element stress analysis software to establish anmodel of environmental force field, the interaction between the key parts of move-in-mud robot(expanded Agency) and model of environmental force field (soil) is simulation analyses whichleads to design of hydraulic system and virtual simulation as references. Geometric model of body structure of bionic move-in-mud robot is established by Pro/E,then geometric model of the Pro/E imports ADAMS by applying Mechanism/Pro module,while simulation model is established. The hydraulic components and parameters are elected bytheoretical calculations, and hydraulic system of bionic move-in-mud robot is established. Thesimulation of hydraulic system of bionic move-in-mud robot is established through theHydraulic module in ADAMS. The simulation of model of environmental force field is basedon virtual prototyping technology. Simulation study on virtual prototype model of bionic move-in-mud robot is made by simulation of hydraulic systems, simulation model of environmentalforce field and simulation models. Simulation results can verify the correctness of the structuredesign of bionic move-in-mud robot and the feasibility of physical fields simulation, and getsome valuable data and conclusions that laying a foundation for physical prototypedevelopment.