修井作业机接送管柱机械手
金嘉琦,相禹来,王显荣
(沈阳工业大学 机械工程学院,辽宁 沈阳 110870)
摘要:机械手是修井作业机管柱接送过程中最关键的机构。针对修井作业中管柱的卸下与上装,首先介绍这组机械手的运动过程以及其中的关键技术;其次利用齐次坐标变换法建立机构的运动学方程,并对运动学位资正反解进行求解与分析;最后计算出机械手转动时必须遵循的安全速度,从而获得一组安全可靠的接送管柱机械手机构。
关键词:机械手;齐次坐标变换法;运动学方程;位资正反解
中图分类号:TP241.3 文献标志码:A doi:10.3969/j.issn.1006-0316.2015.06.012
文章编号:1006-0316 (2015) 06-0056-03
Manipulators of workover rig using for transporting pipe columns
JIN Jiaqi,XIANG Yulai,WANG Xianrong
( School of mechanical engineering, Shenyang University of Technology, Shenyang 110807, China )
Abstract:The manipulator is the key mechanism in the process of the pipe columns’ transfer in the workover rig. At the beginning of this article aimed at the discharge and installation of pipe columns in the process of the workover rig, it will introduce the motor process of this group of manipulators and the key technology. And then, creating the kinematics equation of this mechanism using the homogeneous coordinate transformation method, solving and analyzing the positive and inverse solution of kinematic gesture. Eventually calculating the safe speed that must be followed when manipulators rotating. Therefore, we can get a safe and reliable group of manipulators using for transporting pipe columns.
Key words:manipulator;the homogeneous coordinate transformation method;kinematical equation;the positive and negative solution of location and posture
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收稿日期:2014-11-07
基金项目:车载式蒸汽机驱注高温不压井修井作业机关键技术研究(2013020087-301)
作者简介:金嘉琦(1955-),男,辽宁沈阳人,博士,教授,主要研究方向为精密加工与精密测量的理论与技术研究;相禹来(1989-),男,辽宁丹东人,硕士研究生,主要研究方向为工业机器人自动化技术。
 

 

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