On the basis of above work, mathematical models of creeping principle based on move-in-mud bionic robot moving in every phase of the all moving lines are built up.
在此基础上，分段建立了基于蠕动原理仿生拱泥机器人整体运动的数学模型。
The moving lines of creeping principle based on move-in-mud bionic robot are analyzed and expressing formulas of creeping principle based on move-in-mud bionic robot moving lines are built up too.
对基于蠕动原理仿生拱泥机器人的运动路线进行了分析，并推导出运动路线的表达公式。
Using classical soil mechanics theory the force analysis of bionic move-in-mud robot is processed during linear and turning movement from macroscopic view.
应用土的抗剪强度理论等经典土壤力学理论从宏观上进行拱泥机器人直行和转向时的受力分析。
Aimed at this problem, an overall technical scheme of bionic move-in-mud robot is presented in this dissertation, and the study of its virtual prototype is carried out.
针对这一问题，本文提出了一种拱泥仿生机器人的总体技术方案，并对其虚拟样机展开了研究，为拱泥机器人实验样机的研制奠定了基础。
According to the present situation of driver's excavating holes artificially in ship-sunken salvage, a prototype of bionic move-in-mud robot is presented by virtue of bionics principle.
针对目前沉船打捞中潜水员人工穿千斤作业的现状，根据仿生蠕动原理，提出了一种水下仿生拱泥机器人的设计方案。
According to the present situation of driver's excavating holes artificially in ship-sunken salvage, a prototype of bionic move-in-mud robot is presented by virtue of bionics principle.
针对目前沉船打捞中潜水员人工穿千斤作业的现状，根据仿生蠕动原理，提出了一种水下仿生拱泥机器人的设计方案。
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