蠕动爬行攻泥机构转向工作特性的有限元分析

针对用于沉船打捞的水下攻泥机器人蠕动爬行攻泥机构的结构与工作机理 ,建立了适当的有限元计算模型 ,进而通过弹塑性有限元计算 ,模拟了攻泥机构处于土中不同深度的工作情况 ,建立了攻泥机构前进位移V和转向角θ之间关系的通用公式。通过它可以实现对攻泥机构前进路线的规划与自动控制

On the basis of the structure and working principle of the crawling  in  mud manipulator of the underwater robot which can be used to salvage a sunken ship, a finite element model of the manipulator is set up. The turning work behavior of the manipulator crawling in the mud is analyzed by means of elasto  plastic finite elementmethod when it being at different depth. A general formula that describes the relationship between the advance displacement and the turning angle of the manipulator is established, and the automatic control and planning of its advance route can be realized with this formula.

国家“8 6 3”计划资助项目 (项目编号 86 3- 5 12 - 9914 - 0 2 )