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。
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.
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。
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.
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。
Using classical soil mechanics theory the force analysis of bionic move-in-mud robot is processed during linear and turning movement from macroscopic view.
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