摘要
针对分层注水测调仪的工作特点和关键技术,提出一种新型分层注水测调仪机械臂结构方案。基于多体系统动力学理论建立其动力学模型,应用仿真分析软件ADAMS对测调仪机械臂进行了测调工况下的动力学仿真分析。对测调仪机械臂自动展开、定位、收回,以及机械臂的对接机构与坐封在配水器中的堵塞器实现弹性对接等一系列运动过程进行仿真分析。结果表明,由工作中产生的振动和碰撞引起机械臂机构位姿的变化在合理的范围内。仿真分析有效评价了测调仪机械臂系统动力学特性,为其结构的优化设计提供参考。
Stratified water measuring instrument is one important part in the layered testing and adjusting combination water-distributing system,and in this paper,a new structure1 of the measuring instrument mechanical arm was proposed based on its work characteristics and key technology.Based on the theory of multi-body system dynamics,its dynamical model had been built for the simulation under measuring working condition by using ADAMS.A series of movements of the measuring instrument mechanical arm include its automatically unfolding,position,recover and docking with plug sitting in the water distribution device were simulated,and the result showed that vibration and impact generated in work that caused changes in body position and orientation of the robot arm were within a reasonable range.The simulation could effectively evaluate the dynamic characteristics of the measuring instrument mechanical arm,and provide a reference for structure optimization.
出处
《石油矿场机械》
2016年第2期37-41,共5页
Oil Field Equipment
关键词
分层注水
机械臂
运动仿真
优化设计
separate layer water injection
mechanical arm
dynamics simulation
optimizing design
