Modeling And Simulation Research In Robot Of Electrical Impulse For Jam

Along with the deepness of empolder degree in oil field,physical and chemic jam phenomenon in oil well are gathering more and more,resulting in that output of base oil descends and cost of exploitation ascends.Low frequency electrical impulse technology for jam is provided with its own advantage,at the same time,it has localization in the production of oil extraction and intelligence needs to be enhanced.Robot of electrical impulse for jam has become a favorable potential application.After analyzing the actuality and problem in technic of electrical impulse for jam,we accept the idea of making use of robot in the field.First of all,basing the environmental of oil production,this paper schemes out a virtual robot machine of electrical impulse for jam combined with wheels robot and peristaltic robot.We introduce the machine's physical construction and operational principle,analyze model of kinematics and dynamics,mainly including analysis and foundation of model and computing out the size and restriction of the machine.Analysing from academic point of view,this virtual machine has important meaning for heightening recovery ratio and bringing predominance of low-frequency impulse wave in oil extraction technic into play.On top of that,we simulate the machine's movement.OpenGL is imported into Visual C++ 6.0 and we ameliorate and construct detection algorithm of collision and interference.Academic validation and emulational test are given to prove the practicability and feasibility.After comparing with exiting generating algorithms for Bezier curve,a new point-by-point approach generating algorithm is presented and its elements and program realizations are described.Finally,function of the whole simulation system is introduced.All the research work done here will surely do great benefits to the robot simulation technique and further application, and it has practical and theory value.