Design And Dynamics Analysis Of Automatic Pipe Racking System Of The Drilling Rig On Semi-submersible Platform

Based on the national major project,“The development work about the key equipmentsof pipe handling system for the deepwater drilling rig”, this paper has carried out design andstudy on the pipe racking system (PRS) of the semi-submersible platform. PRS is an importantpart of the automatic pipe handling system, it can replace the manual transfer and rackingoperation for the drill-pipe stand, and can be very helpful for improving the safety andefficiency of drilling. This paper mainly doing the research on PRS is as follows:First, the research content and significance of this paper is analyzed, and through readingmany documents, familiarizing with and mastering the related advanced technologies andproducts structure, the overseas and domestic research status of the automatic pipe rackingsystem is introduced. According to the functions of PRS, the pipe racking operation schemeand workflow of this system is confirmed.Second, homogeneous coordinate transformation method is obtained to do themulti-rigid-body kinematics analysis for the simplified model of PRS, then the relationshipbetween the joint variables and the pose of the PRS end effector (clamp) can be achieved. Andthe MATLAB software is applied to analyze the influence of diffident joints driving mode onthe moving stability of PRS.And based on the established overall structure of PRS and its constituent mechanism, thetelescopic mechanism which be used to send out and take back the drill-pipe stand is designedand analyzed. Considering its large size and adverse operation circumstance of this mechanismwould have a big effect on the operation accuracy and stability, so rigid multibody and flexiblemulitibody dynamics modeling theory are used respectively to establish the dynamic model oftelescopic mechanism.Last, with the application of ADAMS software the emulation of multi-rigid-body andmulti-flexible-body is done to the telescopic mechanism respectively, and some relatedkinematics curves can be obtained. By comparing the simulation results from the two cases, itcan be seen that the elastic deformation of flexible bars has a great effect on the mechanismoperation, and on this basis, how to improve the moving stability has been discussed. Theresearch content and analysis results of this paper may be useful for the design improvement and actual operation of automatic pipe racking system.