Design And Simulation On Manipulator Pipe-handling System

Through the investigation analysis the development of pipe handling system in chinaand aboard, proposed a design scheme which suitable for the slant well drilling rig. Themanipulator pipe-handling system could be used for connecting drill string and casing. Thesystem can be used for slant well drilling which incline angle ranges from0to45o. Themanipulator is composed of hoisting system, range distance mechanism, clamping hand andrighting hand.In this paper, the design scheme about manipulator was proposed for rack and piniondrilling rig, the3D models of the manipulator have been created by SolidWorks.Checking and calculating processes are completed by COSMOSWorks based on calculatingand analyzing of movement and stress about the manipulator. Detailed design about themanipulator system is completed.By using of the multi-rigid body system kinematics and kinetics theories,kinematics and dynamics of the manipulator are derived. The3D models are introduced intoADAMS, and the displacement, velocity, acceleration and output force curve are displayed.Based on the simulation analysis result to research manipulator motion characteristics, and ittestifies that the manipulator system are reasonable designed.Hydraulic circuit of the manipulator hoisting system was created by ADAMS/Hydraulicsmodule, and the mechanical-hydraulic co-simulations are completed, obtain characteristicsabout the manipulator hoisting system which is driven by a constant flow pump. Analysishydraulic control component effects on hoisting system, and change the opening size ofrestrictor value2to analysis hoisting velocity which can ensure the manipulator work steady.In this paper, design and simulation on manipulator pipe-handling system is completedbased on virtual prototype technology. It testifies that the manipulator system are feasibleused for handling pipe on the slant well drilling rig. And parameters of hydraulic system areobtained, texting time of practical hydraulic system are shortened.