Parameterized Design of Mechanical Structure of Move-in-mud Robot

摘要

In order to establish the virtual prototyping integrated databases of working and structural parameters of bionic move-in-mud robot (MMR) based on the creeping principle, a new design method is presented that the layout-driven automatic assembly and update of production based on three-dimensional model. Hereinto, positional and dimensional relations of mechanical structure are ascertained in accordance with robot motion characteristics, corresponding relations, parameters and design references are designated, and three-dimensional model template is established and automatic assembly is realized. Based on Microsoft Visual C++ 6.0 integration environment, software development toolkit Pro/TOOLKIT is used to implement search and modification of design parameters and relations, and then a new design scheme is created in line with new parameter value. The results show that it is feasible to accomplish automatic design and update of robot under different working conditions.