钻机二层台排送管机械手刚柔耦合动力学仿真分析  

Rigid-flexible Coupling Dynamics Simulation Analysis of Drill Rig Monkey-Board Pipe-handling Manipulator

作　　者：胡送桥 唐清亮 陈明凯 祝克强 HU Songqiao TANG Qingliang CHEN Mingkai ZHU Keqiang(Sany Heavy Industry Co. , Ltd. , Changsha 410100, China)

机构地区：[1]三一集团有限公司湖南分公司,长沙410100

出　　处：《石油矿场机械》2017年第1期34-37,共4页Oil Field Equipment

摘　　要：运用仿真软件Hypermesh及ADAMS建立钻机二层台排送管机械手刚柔耦合模型,模拟机械手夹持管具从收缩状态到井口中心位置的送管过程。对比分析机械手臂架纯刚体、刚柔耦合两种状态和不同臂架驱动速度下机械手末端抓手各方向的位移和位移偏差。为机械手臂架驱动系统的设计选型、臂架的结构设计等提供理论数据支撑,缩短了产品设计开发周期。In order to achieve unmanned pipe-handling of monkey-board,drill rig monkey-board pipe-handling manipulator aims to replace derrickmen that handle pipes high-effectively.In this paper,the simulation analysis software Hypermesh and Adams were used to establish the model of rigid-flexible coupling dynamics simulation analysis and simulate the process of pipe-handling,and analyzed the displacement and the deviation in three directions under the states of rigid ＆ rigid-flexible coupling and three driving velocity of manipulator arm,which provided reliable data to support structure improvement and driving system design and shorten the design cycle.

关 键 词：钻机 排送管机械手 刚柔耦合 动力学分析 

分 类 号：TE928[石油与天然气工程—石油机械设备]