Force Analysis Of End Effector Of Robot For Blowout Preventer Assembly And Study Of Dynamic Statics

Blowout is a kind of phenomenon that happens in oil field, Once there is a blowout happening,the blowout preventer must be installed to prevent the blowout, otherwise,there will be enormous damages. On the processing of blowout, the traditional way is all by hand to assemble the blowout preventer in the wellhead of high speed flows. Due to the poor conditions, the safety of the operators is often difficult to get security, and it could waste a lot of financial and material resources. As countries and enterprise pay more attention to production safety, the working environment and safety, the study of developing a robot for blowout preventer assembly is more important and urgent. For the above problems, this paper puts forward the overall structure scheme of robot, the mathematical model of blowout is built. Dynamic meshing technique based on CFD was used to simulate the movement of blowout preventer in the process of blowout. Robot force of each joint is analyzed by dynamic statics.And some innovative results are achieved.1.The overall structure scheme is put by analysis the requirements and performance of robot.Blowout simulation working condition and mathematical model of blowout is built.The study of the relationship between the spray liquid vertical height and horizontal distance and liquid velocity, tubing diameter, liquid droplet radius and the strength of the wind outside.2.Due to the impact of blowout preventer from fluid, the installation position is not accurate, so the force of blowout preventer is a very important problem. Dynamic meshing technique based on CFD software was used to simulate the blowout preventer movement in the process of blowout. The pressure of blowout preventer is obtained by the simulation results.According to pressure of blowout preventer in different position, fitting out the function expression between preventer force in x and y direction and the changing position.3.Using dynamic statics analysis method to establish the mathematical model of robot’s dynamic statics. Analysis the force and moment of the key component and the ralationship between key component force and position of robot, the position of the largest stress of the robot,which can provide certain reference for optimal design of mechanism.