王建新, 林扬. 用波动方程建立蠕动爬行攻泥机器人海底土力学运动模型[J]. 机器人, 2002, 24(4): 309-313..
WANG Jian-xin, LIN Yang. SEABED SOIL MECHANICS MODEL ANALYSIS BY WAVE EQUATIONOF A MOVE-IN-SOIL ROBOT BASED ON CREEPING PRINCIPLE. ROBOT, 2002, 24(4): 309-313..
Abstract：according to the characteristics of the present move-in-soil robot based on creeping principle,a seabed soil mechanics model of rheology is proposed by wave equation,as far as the engineering behavior of seabed soil under the periodical impact is concerned. During the solution of the wave equation with backward difference,we work out the displacement and distortion of the soil unit. After that,a simulation is provided on plastic and solid mud,and the feasibility of using this way to calculate the resistance generated by soil is also studied.
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