关键词: 仿生拱泥机器人, 数学模型, 运动路线, SnAgCu钎料, 纳米压痕, 塑性变形, 微观组织

Abstract: Essential working principle of creeping principle based on move-in-mud bionic robot is introduced. The moving lines of creeping principle based on move-in-mud bionic robot are analyzed and expressing formulas of creeping principle based on move-in-mud bionic robot moving lines are built up too. On the basis of above work, mathematical models of creeping principle based on move-in-mud bionic robot moving in every phase of the all moving lines are built up. These mathematical models can be used as simulating models of study on computer simulation of moving process of creeping principle based on move-in-mud bionic robot. At the same time, these mathematical models also lay the mathematical foundations of improving on design model machine of creeping principle based on move-in-mud bionic robot. On the other hand, these mathematical models lay the theory foundations for designing working machine of creeping principle based on move-in-mud bionic robot and for analyzing application of creeping principle on based move-in-mud bionic robot.

Key words: Mathematical models, Move-in-mud bionic robot, Moving lines, Elastic deformation, Microstructure, Nanoindentation, SnAgCu solder alloys