Abstract: The move-in-mud robot withstands big rotating resistance when advancing in soil. A design is presented, combining with the advantages of parallel mechanism such as strong bearing capacity, inversing kinematics problems easily. It adopts the Tricept type parallel mechanism as the turning mechanism of move-in-mud robot, which improves the drive ability of move-in-mud robot. The whole mechanism scheme is presented. The transformation matrixes of staff coordinates of move-in-mud robot are presented. By the analysis on movement characteristics of move-in-mud robot, the mathematical model of movement track is built. The whole moving process of move-in-mud robot is simulated by computer simulation technology, and the angle change of turning joints is given with/without obstacles. The simulation results lay the foundation for mechanism design and path planning and so on, lay the mathematical foundation of research on the kinematical and dynamical analysis and simulation, establish the virtual prototyping of move-in-mud robot, meanwhile provide an effective approach to resolve the problem of motion characteristics analysis of other kinds of bionic robots.

Key words: Motion analysis, Transformation matrix, Tricept parallel mechanism