Development Of Oilfield Water Unloading Robotic Arm And Application Of Path Tracking Technology

The harsh environment of the oil field,the increasing labor costs,and the diversified development of oilfield operation robots have all promoted the strong demand for oilfield water injection automation.It is extremely important to develop a water unloading robotic arm device.The development of the water unloading robotic arm not only provides technical support for the promotion in the later application,but also lays a foundation for the diversification and marketization of the oilfield operation robot.The following is the specific research work involved in this paper:1.The working background of the oilfield water unloading robotic arm,the research status of the oilfield operation robot and the hydraulic robot arm trajectory tracking control method,the design requirements and design difficulties of the water unloading robot are introduced in detail.2.Based on the task requirements of the water unloading robotic arm,the overall structural design parameters of the water unloading robotic arm are reversed,including design requirements,overview,overall structure and main component parameters,motion form,mechanism design and power system design;3.Three-dimensional modeling of the water unloading robotic arm,through comparison,determine the cross-sectional shape of the mechanical arm,and then check the strength and stiffness of the model,and then static analysis and modal analysis of the main components,verifying the rationality of institutional design,a simple test was carried out on the unloading robotic arm device,and the test results show that the device meets the design requirements.;4.Introduce the spatial description of the robot,simplify the design of the water unloading robotic arm model,establish a mathematical model,and then perform a forward kinematic analysis on the model to obtain the motion space of the robotic arm.The analysis results lay the theoretical foundation for the following trajectory tracking.5.The principle and characteristics of sliding mode variable structure control are expounded.For the trajectory tracking problem of the water unloading robotic arm with nonlinear and complex dynamic characteristics,a simplified mathematical model is established,then the fuzzy sliding mode control theory is proposed,and the sliding mode is separately constructed.Compared with the MATLAB simulation of trajectory tracking control of fuzzy sliding mode,the comparison results show that the fuzzy sliding mode controller has better tracking control effect in all aspects.