Research on Structural Design and Trajectory Planning of a New Drilling Floor Robot
With the development of automation technology in global oil industry, intelligence is an inevitable trend. Generally speaking, intelligence is still under its initial stage at the present time. Reducing labor, reducing operational risks and improving work efficiency will be emphasized as the future research and development directions in oil industry. Based on the analysis of the current situation of world’s oil drilling industry, this paper discusses the whole process of drilling operations and the problems existing in it. It proposes a new type of drilling floor robot that integrates assistance and carry (assistance for long pipes, carry for the short pipes). The main work is include using this drill floor robot as the research object, creating a robot coordinate system using the link parameter method, finishing robot forward kinematics and inverse kinematics model solution doing robot obstacle avoidance trajectory planning, using MATLAB and Robotics Toolbox to analyze the simulation application strategy and method, and carry out intelligent 3D dynamic simulation. This new type of drill floor robot structure is not only versatile, but also can be diversified by replacing the end effector. The paper provide a new idea for intelligent drilling operations, thus promoting the rapid development of the drilling industry.
KeywordsDrill Floor Robot Kinematics Trajectory Planning
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