钻杆排放机械手运动学分析及轨迹控制仿真

摘要

Aimed at the need and characteristics of vertical drill pipe handling on petroleum rig,a new type of automatic pipe handing manipulator was designed. The whole structure and working principle of the manipulator were introduced,and it was kinemat-ic analyzed. The transform relationship between gripper at the end of the manipulator and the action joint was established by using the D-H method and Jacobin matrix. Finally the trajectory control simulation was completed by using Simulink. The results show that,the manipulator can well satisfy the need of drill pipe handing technology.%针对石油钻机钻杆竖直排放的特点和要求，设计了一种新型自动排放机械手。介绍了该机械手的总体结构和工作原理，对其进行了运动学分析，通过运用D-H方法和雅克比矩阵建立了末端夹持器与动作关节之间运动参数的变换关系，最后利用Simulink进行了轨迹控制仿真。结果表明，机械手能够较好地满足钻杆排放工艺的需求。