钻杆排放机械手运动仿真及强度分析

Motion Simulation and Strength Analysis of Drill Pipe Handing Manipulator

应用ADAMS及ANSYS软件分别建立钻杆排放机械手运动仿真模型及有限元模型,对机械手进行运动仿真及强度分析。结果表明:机械手前爪运动轨迹近似水平,且无速度波动满足移动钻杆工作的平稳性要求;当前爪受到线性水平载荷时,液压泵载荷随位移增加而增加,超过一定行程后载荷急剧增大;当机械手在极限位置承受最大载荷时,后臂、前臂受力最大,危险区集中在铰链孔附近。分析结果为钻杆排放机械手的工作性能评价及结构优化提供了参考。

The motion simulation model and finite element model of drill pipe handing manipulator are es- tablished respectively by using ADAMS and ANSYS, the movement simulation and strength analysis of the ma- nipulator are carried out. The results show that the trajectory of manipulator is approximation level, and has no velocity fluctuations which can meet the stability requirement of manipulator in pipe moving work. When the claw is under linear horizontal load, the load of hydraulic pump increased with the displacement increase, more than a certain position, the load increased rapidly. When the manipulator sustained the maximum load in the limit position, the maximum stress occurred on the back arm and forearm, the hazard zone concentrated near the hinge hole. The obtained result can provides a reference for performance evaluation and structure optimization of drill pipe handing manipulator.