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。
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.
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。
Combined with the overall mechanism and movement characteristic, the control strategy of move-in-mud robot is analysed, and the local path planning is designed.
结合拱泥机器人的整体结构和运动特点，分析了拱泥机器人的控制策略，并设计了拱泥机器人的局部路径规划器。
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。
The experiment system of move-in-mud robot principle prototype is set up, performance of the measure system of the robot is validated by the simulation experiment in the lab.
在实验室内建立了拱泥机器人原理样机的实验系统，利用模拟实验验证了机器人检测系统的性能。
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。
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.
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。
Combined with the characteristic of parallel mechanism, the turning joint of move-in-mud robot is studied deeply, and the numerical analysis and computer simulation of its kinematics are carried out.
结合并联机构的特点，对拱泥机器人转向关节展开了深入的研究，并进行运动学的数值分析及计算机仿真研究。
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。
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。
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