拱泥机器人原理样机的研制

研制了一台拱泥机器人原理样机，针对洪泥机器人在泥土环境中前进时转向阻力矩大的特点，设计了一种简单灵活的转向机构，采用充气胶囊作为支撑，提高了蠕动爬行机构的驱动能力。提出了拱泥机器人传感器检测系统的方案，解决了拱泥机器人水下位姿的检测问题，进行了原理样机控制系统设计和作业流程设计。最后在实验室环境中完成了原理样机的蠕动爬行实验，验证了总体方案的可行性。

Elementary Prototype of Move-in-mud Robot

In this paper, the development of an elementary prototype of the move in mud robot is described. Considering the characteristic that the robot withstands big rotating resistance when advancing in soil, a turning machine with more simplicity and flexibility is designed. A gasbag is adopted as supporting structure, which improves the creeping machine's drive ability. This paper also presents the scheme of sensor detection system to resolve the problem of robot's position and attitude detecting. The control system design and working flow desing of the elementary prototype is carried out. Lastly two level control structure that constitutes superion PC and inferior single chip microcomputer is adopted. Laboratory simulation environment is constructed, creeping in soil experiment is accomplished, and feasibility of general project is proved.