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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 .
In view of the current situation of the shipwreck and attack jacking pits, a peristaltic robot based on the peristaltic principle is proposed.After studying the engineering properties of the marine sedimentary soil, The mechanics model of operation in the soil environment was used to study the mechanical properties of submarine saturated silty clay under cyclic impact loads. It is proved theoretically that the crawler robot can crawl in the soil environment under the sea.