This paper has completed the essence part of the robot , and laid foundation for the implement of the earthworm - like robot 本文给出的机器人的本体部分,为仿蚯蚓拱洞机器人的实用化奠定了基础。
According to the biology mechanism and worm principle of earthworm , this paper lead robot technique into no dig technology on the earth , research and design the machine system mechanism of an earthworm - like robot which cove hole under the earth 本文基于蚯蚓的生物机理,通过对其蠕动原理的研究,提出了在土质环境下拱洞的仿蚯蚓机器人机构模型,将机器人技术引入到了陆上不开挖技术中。
In this thesis , some work has been done : fisrtly , based on the thorough investigation of the mechanism project , combining concept diagram , the literal description and the formula analysis together for programing motion of the robot ; secondly , according to soil mechanics principle and pressuremeter theories , the model which reflect the interaction force between robot and soil are founded ; thirdly , proceed the analysis and solution ; using virtual prototyping software - adams to optimize the mechanism model and analyze the mechanics ; furthermore compared the analysis calculation result of the above both side , we verify the possibility that the robot dig hole and move in soil ; finally , construction model is consummated based on the optimized result , the mechanism motion and the simulation animation of whole harmonious motion is fulfilled by three dimension simulation software - 3dmax 论文的主要工作有:首先,在对机构方案进行了深入研究的基础上,以概念图标表示、文字描述和公式分析相结合的研究方法对机器人进行了运动规划;其次,根据土力学原理和旁压理论建立了机器人在土质环境下的受力模型并进行了分析求解;然后,借助于虚拟样机软件adams对机构模型进行优化和力学分析;除此之外,通过对上述两方面分析计算结果的比较,验证了该机器人在土质环境下拱洞和蠕动爬行的可行性;最后,在优化结果基础上进一步完善了结构模型,通过三维仿真软件3dmax实现了机构运动和整体协调运动动画的仿真。