A design plan of bionic Mmove-in-mud robot and its virtual prototype

In order to improve the working efficiency of salvaging sunken ship, a new design of bionic move-in-mud robot is introduced based on the creeping principle. Considering the bionic mechanism design and modeling problem as the starting point, the basic structure of move-in-mud robot is firstly given based on the structural organization and movement mechanism of earthworm, and then the design process of turning joint is illustrated in detail. The design and analysis of kinematics and path planning of move-in-mud robot is carried out by various supporting software of virtual prototype design. Based on the analysis of the integration principle between information and function of the heterogeneous data in the heterogeneous environment, the virtual prototype architecture of move-in-mud robot is created. The parameters of different size and synchronous virtual prototype can be easily modified so as to provide the optimal design plan for the development of actual working machine. These research works above is of great theoretical significance and broad practical application prospects.