摘要
在石油故障井井下作业探测机器人原理与结构设计的基础上,在Pro/E环境下建立了具有5000N牵引力、适应Φ90mm～Φ130mm井眼变化的石油井故障探测机器人虚拟样机,利用ADAMS建立了探测机器人运动学与动力学分析模型。通过机器人支撑脚卡紧过程仿真试验及其在不同井眼下的行走仿真试验,得出该探测机器人可以在石油井井下环境中卡紧井壁、适应不同的井眼变化、稳定行走,这为石油井探测机器人的改进设计与研制提供了可行的技术方案。
Based on the principle and structure design of the robot for detecting fault in oil well, using Pro/E, it was done for the modeling of the robot prototype which has the 5000N force of traction, adapt to pipe for down-hole in O90-O130mm, and using ADAMS, the modeling of the prototype and simulation of robot for detecting fault of down-hole were developed. From experiment results of the movement of robot＇s feet and robot＇s motion at down-hole in different pipe, it shows that the robot can walk stably at down-hole in petroleum well. The experiment results provide a feasible technological project for the improvement and manufacture of the robot.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2008年第13期3610-3613,3621,共5页
Journal of System Simulation
