摘要
针对油田生产特殊工艺井测井的特殊要求,对其送进技术的局限性进行了研究,提出了一种基于并联机构的新型管道机器人,取代以往的送进技术。利用坐标变换的方法建立了该机器人的运动模型,并进行了机器人在直管和弯道中的行走机理分析。同时,对该管道机器人进行了虚拟样机仿真分析。通过虚拟样机在直管和弯道中的行走仿真,验证了理论分析的结论是正确的。该机器人具有较大的拖动力。
Aim at the special requirement of special technologic well logging limitations of carrying technology were researched, so the new type pipe robot was put forward based on parallel mechanism to replace the used carrying technology. The kinematical model was set up by the method of coordinate transform for the robot in this paper, and the walking principle was analyzed when the robot moved in straight pipe and elbow. Further more the virtual prototype was made and kinematical simulation analysis had been accomplished. By the walk- ing simulation when the robot moved in straight pipe and elbow it is validated that the walking principle estab- lished for the robot is correct. The robot can have bigger tensile draw
出处
《组合机床与自动化加工技术》
北大核心
2009年第7期34-37,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
黑龙江省科技厅重大科技攻关项目计划(GZ08A501)
关键词
并联机构
管道机器人
测井技术
仿真分析
parallel mechanism
pipe robot
logging technique
simulation analysis
