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.