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由于静力学方法难以满足钻杆抓取机械手设计、优化的理论需求,采用理论力学方法,对机械手夹持力进行了等效简化,得到了力旋量平衡方程。通过对机械手实际工况的分析,求得了等效力的夹持变换矩阵。最终根据夹持点的摩擦锥条件、力旋量平衡方程和夹持变换矩阵,求得了夹持力数学模型。该数学模型为钻杆抓取机械手夹持力的计算、分析和优化奠定了理论基础。
Because of the difficulty of static mechanics to meet the design and optimization of drill pipe grabber, the theory of mechanics is used to simplify the grip force of manipulator, and the balance equation of force is obtained. By analyzing the actual working conditions of the manipulator, the equivalent holding force transformation matrix was obtained. Finally, the mathematical model of the clamping force is obtained according to the friction cone condition, the force balance equation and the clamping transformation matrix at the clamping point. The mathematical model has laid a theoretical foundation for the calculation, analysis and optimization of the gripping force of the drill rod gripping manipulator.