【摘要】 针对目前沉船打捞攻打千斤洞的现状 ,提出了自主作业穿引抬船用钢缆的基于蠕动原理的拱泥机器人 .在对海洋沉积土的工程性质进行研究的基础上 ,建立了拱泥机器人在水中泥土环境中作业的力学模型 ,对海底饱和淤泥质粘土在周期性冲击载荷作用下的力学性质进行了研究 ,从理论上证明了拱泥机器人在海底泥土环境中爬行的可行性 .更多还原

【Abstract】 Aimed at updating the present method for punching rope_hole in wrecked ship salvaging, a creeping principle based move_in_mud robot which can be used in channeling off vessel_raising wire rope in autonomous operation was proposed.Based on the research for seabed mud’s engineering behavior,we gave the robot’s mechanics model in water_mud environment. Saturated earth’s mechanics property under periodical impact was also studied, and the feasibility that the robot can creep under seabed mud environment was theoretically proved.更多还原