Design of move-in-mud Robot and kinematics modeling

Move-in-mud Robot is a kind of autonomous service robots, which is used to substitute for excavating hole underwater in wreck salvage by a diver. The robot can excavate hole in mud according to a planned trajectory underwater. It can increase the efficiency of excavating hole and improve working condition of the diver. There is great importance in research on the move-in-mud robot. The structure project of move-in-mud robot based on the creepage principle is put forward in this paper according to the analyses of several projects. The robot's work principle and the movement process are analyzed. The kinematics modeling of the move-in-mud robot is researched in this paper. With ADMAS software, the dynamic simulation model of move-in-mud is established. All the studies establish a foundation for further research on the move-in-mud Robot.