| The paper introduced the general development situation of pipe string processing system at home and abroad,and presented the main contents of the project.In this paper,the structure of string processing simulation equipment was designed,and the detailed working process was put forward.To the manipulator clamp,the paper had made the design and calculation.According to the result calculated,the type of the driving air cylinder was chosen.Beside,the paper made a static simulation analysis about the clamp by Workbench software,and the stress status of every parts were gotten.By simpling the model,the paper made a calculation to the driving force of rotating-lifting cylinder.According to the result,the rotating-lifting cylinder were designed.Starting from the derication of coordinate composite transformation and homogeneous transformation matrix,the linkage coordinates of the simplified model had been established by using the D-H method.And the homogeneous transformation matrix of the linkage was derived.Using this matrix,the solving process of positive kinematics and athwart kinematics were made;Using the interpolation function,the paper got the expression of the trajectory function.By the Robotic Toolbox in Matlab,the kinematics simulation of the simplified model was analyzed and the trajectory planning was solved.By programming,the trajectory of the clamping center was simulated,and the movement trajectory,the curves of the displacement,velocity and accelebration for each joint parameter were gotten in this paper.The principle diagram of the hydraulics and pnumatics unit was draw.Based on the hardware principle,the electrical components of control system were chosen,and the control schematic diagram of electrical unit was designed.According to the working process,the controlling flowchart descriptions had been drawn.Based on the Configurable software,the Configuration monitoring interfaces were developed.And then,the paper introduced the functions and characters of the interfaces. |
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