基于ADAMS的液压钻机机械手动作特征分析

Analysis of Action Characteristics of Hydraulic Drilling Rig Manipulator Based on ADAMS

针对液压钻机在自动上下钻杆过程中易发生抖动、无法精确定位等设计问题,对完成自动上下钻杆操作各参与部件的动作进行分解,并以机械手运动时的动作特征作为研究对象。通过创建三维模型,并运用ADAMS软件对机械手爪运动过程的动作特征进行仿真实验,模拟现实运行情况对机械手各组件进行约束,经STEP函数驱动后,得出机械手运动时的质心、速度等变化曲线。经分析,曲线变化与机械手的动作特征相符,能够作为液压钻机机械手改进和设计的方法,具有较强的现实意义。

Aiming at the design problems of hydraulic drilling rig in the process of automatic up and down rod shaking and unable to accurately locate,decomposed the actions of the parts involved in the automatic up and down rod operation,and took the action characteristics of the manipulator as the research object.By creating a three-dimensional model,and using ADAMS software to simulate the movement characteristics of the manipulator claw,simulate the actual running situation,constrain the components of the manipulator,and get the change curve of the center of mass and speed of the manipulator after driving by STEP function.After analysis,the curve change is consistent with the action characteristics of the manipulator,which has a strong practical significance,and can be used as a method to improve and design the manipulator of hydraulic drilling rig.