六自由度钻杆装卸机械手运动学研究

Study on The Kinematics of The Drill Pipe Handing Manipulator with 6-DOF

现有工程钻机机器人采用人工装卸方式换接钻杆,其工作效率较为低下且存在安全隐患。为提高钻机的钻杆换接效率,设计了一种六自由度钻杆装卸机械手。在此基础上,利用笛卡尔坐标系建立了机械手的运动学方程,并采用遗传算法运动学方程进行了求解。进一步通过UG软件建立了钻杆装卸机械手虚拟样机模型,并提出了同步驱动和依次驱动两种驱动方案,同时在两种方案下对钻杆装卸机械手的运动学进行了仿真分析,分析结果表明:运动学方程逆解和连杆参数设计正确;机械手同步驱动方式在运动特性方面优于依次驱动方式。研究成果为实现工程钻机人钻杆的自动装卸提供理论基础。

The existing engineering drilling machine assemble and disassemble the drill pipe by the manual method,the working efficiency is pretty low,and many hidden danger is existed.In order to improve the efficiency of drill pipe assemble,we designed a kind of six degree of freedom manipulator.On the basis of this,the kinematics equation of the manipulator is established by using the Descartes coordinate system.And we solved the equation by the genetic algorithm with the constraint condition of the concentric degree error function.After that we set up a pipe handling manipulator virtual prototype model by UG soft,and then set up two drive scheme to simulate and analyze the pipe handling manipulator.The analysis results show that:the inverse kinematics equations and the connecting rod parameters are correct.The synchronous driving mode of the manipulator is superior to the driving mode in the motion characteristics.The research results provide theoretical basis for realise the drill pipe assemble automaticly.