移运油管机械手设计及其轨迹规划

国内油田修井作业存在人工辅助管柱的起、下操作的危险性以及人工效率低下的问题。研制一种修井作业移运油管机械手,并提出一种新型末端夹持器机构模型,以解决机械手抓取油管的难题。根据D-H参数法创建机械手运动学模型,对机械手进行正逆运动学分析;结合移运油管的工况需求,确定移运过程的轨迹以及经过的目标关键点;使用MATLAB和五次多项式插值法,根据目标关键点进行轨迹仿真,验证机械手轨迹规划的合理性,为机械手的运动控制和轨迹优化提供参考。

Design and Trajectory Planning of a Tubing-Transporting Manipulator

In domestic oilfield workover operation,there are some problems such as the risk of manual auxiliary string lifting and running and low labor efficiency.A tubing-transporting manipulator for workover operation was designed,and a new mechanism model of end gripper was proposed to solve the problem of manipulator grasping tubing.The kinematics model of the manipulator was established by using D-H parameter method,and the forward and inverse kinematics of the manipulator were analyzed;according to the condition requirements of transporting tubing,the trajectory of the transport process and the key points of the target were determined;by using MATLAB and quintic polynomial interpolation method,trajectory simulation was carried out according to the target key points to verify the rationality of manipulator trajectory planning.It provides reference for the manipulator motion control and trajectory optimization.