| Horizontal directional driller is a kind of construction machinery for laying down a variety of underground utilities without digging the ground. Because it can effectively improve the speed of construction, reduce the labor intensity of workers and decrease the energy consumption, in recent years, horizontal directional driller rig has got a rapid development. At present, horizontal directional driller is increasingly moving towards the direction of automation, in which the automatic transportation of drill pipe is an important research topic.People are used to transport the drill pipe with hands or lift, which are laborious and time-consuming and may arouse accidents. The best method which can solve the problems above is to assemble a special manipulator for drill pipe transportation. With the manipulator the driller can transport the drill pipe automaticly.Although some domestic corporations and institutions have embarked on this study, but there still exists some problems which are not comprehensive. The thesis has did a lot of research work about it.The thesis has brought forward a new design by comparing with two designs of drill pipe transportation manipulator, and has draw the 3D model of the manipulator with SolidWorks. The project can solve the previous problems in the program.For the feasibility of movement, the thesis has established the relationship between the corner of the robot hand and the displacement of the hydraulic cylinder piston, as well as the relationship between the hand position information and the rotating circle number of hydraulic motor, by analyzing the kinematic situation. Furthermore, the thesis has derived their speed and acceleration relationship.The realization of the robot control is another important theme of this thesis after the machine has been designed.The thesis has firstly afforded the system diagram for the manipulator control, and then introduced the electro-hydraulic proportional control system and the adaptive fuzzy-PID control system which is based on PLC in detail.In this thesis, the hydraulic control component of electro-hydraulic proportional control system is electro-hydraulic proportional valve, and the implementation components are hydraulic cylinders and hydraulic motors, which control the hand's posture and hand position respectively. In order to adjust the synchronized error of the manipulator, the thesis has assembled a speed electro-hydraulic proportional valve in the return circuit of hydraulic cylinder and hydraulic motor. By real-time detection of the manipulator's displacement information, the system transforms the displacement error into electric signal, and then transports the e-signal to the start so that the error can be removed.The thesis has derived the transfer function of the hand's hydraulic control system for posture, location and synchronization. To match the hydraulic part of the hand's electro-hydraulic proportional system, the thesis has also introduced the electro-hydraulic proportional electric control system.Because the response of the system's open-loop transfer function for the step signal is bad at the dynamic characteristics, so a correction is needed for the system. In this thesis, the adaptive fuzzy PID control algorithm is used. The thesis has brought forward a method suitable for the system by analyzing the principle of the adaptive fuzzy PID algorithm, and then upbulid a simulation module by using the fuzzy logicall toolbox.In order to verify the correctness and the feasibility of the Control algorithm, the thesis has simulated the closed-loop control system by using the adaptive fuzzy PID simulation module and Simulation software. The simulation has got a good control effect. The thesis has also simulated the synchronized control system, the simulation results show that the method can adjust the synchronization error rapidly and accurately.The Simulation results are only the realization of the theory, in order to get a Practical effect we should develop a controller. The controller which the thesis used is the PLC of Siemens S7-200CPU216 type. For realizing the adaptive fuzzy PID control, the thesis firstly program for the election of adaptive fuzzy PID parameter by using the database function and the cycle executive instruction of S7-200, and then make use of the PLC's PID instruction to program for the PID operation. In order to control the hand's sequential work, the thesis has design the control panel and control procedures by using the S7-200's SFC. Finally, the thesis has solved the problem of the synchronization of two hands, and then edited a PLC control program.Finally the thesis has did a dynamic virtual experiment of the manipulator by using the ADAMS-MATLAB together. Through the observation of dynamic images and data analysis of the results, the thesis has verifed the feasibility of the manipulator's design intuitionisticly and fully.
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