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.
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胡延平,崔凯.移运油管机械手设计及其轨迹规划[J].机床与液压,2022,50(3):26-30. HU Yanping, CUI Kai. Design and Trajectory Planning of a Tubing-Transporting Manipulator[J]. Machine Tool & Hydraulics,2022,50(3):26-30