Trajectory Planning Study Of Electric Iron Drillers

Iron drillers are the main mechanical devices used for the assembly and disassembly of wellhead pipe strings during the oil field drilling process.With the development of automation and intelligence in China’s industrial robots,their advanced technology has upgraded and replaced the iron drilling workers,forming an all electric robot iron drilling worker.Therefore,it is necessary to control the motion trajectory of the iron drilling worker’s mechanical arm.This article proposes an advanced robot trajectory planning method that enables electric iron drills to clamp the bottom of the drill pipe,place the drill pipe at the joint of the drill pipe,and tighten it.This method reduces manual intervention and complex process steps when unloading drill pipes during drilling operations,and reduces the conveying time of drill pipes.The main work of this article is as follows:Firstly,a seven degree of freedom electric iron roughneck is constructed.According to the structural parameters of the electric iron roughneck,the standard D-H method is used to establish the kinematics model,derive its forward and inverse kinematics equations,and use the Monte Carlo method to solve the reachable workspace of the iron roughneck.Simulation experiments were conducted on several interpolation algorithms for trajectory planning of electric iron drilling workers in joint space and Cartesian space.Through comparative analysis,the 3-5 3 mixed polynomial interpolation algorithm was determined to be applied in joint space trajectory planning.Then,in order to achieve optimal running time for electric iron drilling workers under constraint conditions,an adaptive dynamic weight improved sparrow algorithm was proposed to improve the interpolation efficiency of the mixed polynomial algorithm in the three-segment interpolation time of electric iron drilling workers’ trajectory planning.And compared with SSA,GWO,and GA algorithms on 8benchmark test functions,it has been proven to perform excellently in terms of accuracy and stability.Finally,a simulation experiment was completed on the trajectory planning of the electric iron driller,and the optimized position,velocity,and acceleration curves of each joint of the iron driller were obtained through the simulation experiment.The results show that the trajectory running time has been reduced by about 28%,and the curves of each joint run smoothly and continuously without any sudden changes,providing a theoretical basis for the development of trajectory planning for electric iron drilling workers.