蠕动爬行攻泥机构工作特性的有限元分析

针对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，分析了攻泥机构直行攻泥时与土相互作用的工作特性，阐明了攻泥机构在前进过程中限位块导致的土体局部弱化区对其工作特性的影响程度．综合分析计算与模型试验结果，建议了攻泥机构宜行攻泥所必须的条件．

According to the structure and working principle of the move-in-soil manipulator of the underwater robot, the finite element model has been set up. The straight working behavior of the manipulator in soil is analyzed by means of elastoplastic finite element method. The effect of the degradation area disturbed by the manipulator's arms in soil on the working behavior is studied. Combining analysis and test results, the conditions under which the manipulator can go forward constantly in soil are proposed.