基于蠕动原理拱泥机器人方案研究

摘要

本文针对目前沉船打捞作业中潜水员手工攻打千斤洞的现状，首次提出了拱泥机器人的概念。它基于蚯蚓在泥土中爬行的运动机理，可以在水下泥土环境中按预定轨迹从沉船底部一侧向另一侧蠕动爬行，并随时根据检测到的位置和力信息调整运动位置和姿态。将地下穿孔机的冲击原理与蚯蚓的蠕动机理相结合，提出了一种头部冲击式的拱泥机器人的方案。研究了拱泥机器人的运动控制与位姿检测方案，并建立了拱泥机器人在水下泥土环境中作业的力学模型。%Aimed at updating the present method punching rope-hole in wrecked ship salvaging, the concept of a move-in-mud robot based on creeping principle is proposed for the first time in this paper. Based on the motion mechanism that the earthworm creeps in the mud, the robot can worm from one side of the wreckage vessel to the other side in underwater mud environment, and momentarily adjust its direction and orientation according to the detected position and force information. Combining the impact principle of the underground punch with the creeping mechanism of earthworms, a scheme of a head-punching move-in-mud robot is proposed. Method to detect robot′s position and orientation is stu-died, and the control system project is discussed. Finally, the mechanics model that the robot works in water-mud environment is also founded.