英语翻译MODELING AND SIMULATION RESEARCH ONMOVE-IN-MUD ROBOT BAS

英语翻译
MODELING AND SIMULATION RESEARCH ON
MOVE-IN-MUD ROBOT BASED ON CREEPING PRINCIPLE
Abstract
Move-in-Mud Robot is one kind of special type robot under
water using to salvage sunk ship and belongs to limited
working robot[1,2].It integrates creeping principle of
crawling biology and robot design of high reliability,high
aptitude and self-adaptability to realize robotization of
perforation in mud.In this paper the system design is
introduced about Move-in-Mud Robot,and which mainly
includes three parts of robot reality,testing system and
controlling system.By virtual assembly designing of
move-in-mud Robot parts using ADAMS software,the
conclusion are drawn that virtual assembly is no
interferential,and thus it is proved that structure designing
of robot is feasible.The working principle of Move-in-Mud
Robot is described in detail.According to the kinetic
characteristic of move-in-mud robot,mathematical models
of sportive course as robot works are established.The
reliability of mathematical models is tested by simulation
researching on robot.This paper can provide academic
references for selecting diversified parameters in the course
of designing and as well as analyzing on dynamics of
Move-in-Mud Robot.
1 Introduction
One of key working procedures for sunk shop salvage is
drilling hole for jack underwater,that penetrates one route
way using wire rope raise shop at the bottom of sunk
shop[1,2].At present,divers use commonly handy digging
mud tool to drill hole for jack,that period is long drilling
one hole and work condition is trial.So it is urgent need for
develop one kinds of automatic device for drilling jack hole
underwater,so we call this device as Move-in-Mud Robot
in order to substitute diver’s work completely underwater
and increase work efficiency and improve diver work
condition.
Move-in-Mud Robot is one kind of special type robot under
water using to salvage sunk ship and belongs to limited
working robot [3,4].It combines creeping principle of
crawling biology with impact principle of penetrate hole
underground.Together with high reliability,high aptitude,
strong self-adaptability,so robitization level is improved for
digging mud to penetrate hole.Next its design scheme is
discussed detailedly.