井架攀爬机器人的设计与仿真  

Design and simulation of derrick climbing robot

作　　者：吕志忠[1] 汪维杰 葛亮[1] 冯文荣[1] 姚茂江 陈广 LU Zhizhong;WANG Weijie;GE Liang;FENG Wenrong;YAO Maojiang;CHEN Guang(Nanchong Key Laboratory of Robot Engineering and Intelligent Manufacturing,Southwest Petroleum University,Nanchong 637001,China)

机构地区：[1]西南石油大学机器人工程与智能制造南充市重点实验室,四川南充637001

出　　处：《武汉大学学报（工学版）》2023年第3期337-346,共10页Engineering Journal of Wuhan University

基　　金：南充市市校科技战略合作项目(编号:19SXHZ0034)。

摘　　要：针对石油井架的工作环境,设计了一种井架爬行机器人,以代替人工完成井架攀爬和检测任务。首先,通过工作需求确定了机器人的结构;其次,根据D-H(Diffie-Hellman)参数法求解了机器人机械臂转动以及越障的运动学方程,采用蒙特卡洛法计算得到机器臂的运动空间;最后,利用ADAMS(automatic dynamic analysis of mechanical systems)仿真得到攀爬机器人在静止检测时机械臂转动对履带车吸附稳定性的影响以及越障过程中电永磁吸附足的稳定性。研究结果表明,该井架攀爬机器人可以在井架上稳定工作,且速度快于同类爬行机器人,最大拖动负载为21 kg。在机械臂旋俯仰及旋转过程中,履带车质心的波动幅值均小于0.1 mm。越障过程中,前端电永磁吸附足均不会发生侧滑、倾覆以及下滑等现象。Aiming at the working environment of oil derrick,a kind of derrick climbing robot is designed,which can complete the task of derrick climbing and detecting instead of manual work.First of all,the structure of the robot is determined according to the work requirements.Secondly,according to D-H(Diffie-Hellman)parameter method,the kinematics equations of robot arm rotation and obstacle crossing are solved,and the motion space of robot arm is calculated by Monte Carlo method.Finally,the influence of the rotation of the robot arm on the adsorption stability of the crawler vehicle and the stability of the electro-permanent magnet adsorption foot in the obstacle crossing process are obtained by ADAMS(automatic dynamic analysis of mechanical systems)simulation.The results show that the derrick climbing robot can work stably on the derrick,and its speed is faster than similar climbing robots,and the maximum drag load is 21 kg.During the pitching and rotation of the robot arm,the fluctuation amplitude of the center of mass of the tracked vehicle is less than 0.1 mm.In the process of obstacle crossing,the front electro-permanent magnet adsorption foot will not sideslip,overturn or slide.

关 键 词：井架机器人 稳定性 运动学 蒙特卡洛法 仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]