At first, after comparing the working method of puncturing mud dragon with impact spears which tracks can be controlled, the pneumatic impact machanism of puncturing mud dragon was designed and its mathematic model was deduced and the numerical value method was used to solve its dynamic process. Second,the influence between the piston displacements at different position and its mass was analyzed and output parameters, impact frequency, impact velocity and returning velocity, and the relation of their connection and restriction were pointed out. Third, the optimization design of the pneumatic impact machanism was put up based on the shortest of piston journey and the optimization design parameters were obtained. In the end, the performance tests on impact force, impact frequency and so on for the impact machine were done, and validated its rationality.

通过对穿地龙机器人作业方式与轨迹可控冲击矛作业方式的简要比较，确定了穿地龙机器人的气动冲击机构，建立了数学模型，对其运动过程进行了数值模拟求解；分析了活塞各段位移与质量对输出参数——冲击能、振动频率、冲击速度、回撞速度的影响，指出参数之间相互联系、相互制约的关系；以冲击活塞行程为目标函数进行了冲击机构的优化设计，得到了优化设计参数；进行了冲击机构冲击力、振动频率等性能参数的测试试验，验证了优化设计结果的合理性。