Design, Analysis And Control Of6-DOF Redundant Parallel Adjusting Equipment Used To Adjust The Drill Piper Vertical

Due to deviation problems in the domestic dipping structure areas are very common, therefore, developing equipments with adjusting drill pipe vertical in well drilling can be applied to the condition of large and deep well is of great significance. With characteristics of better load-carrying capacity, better stiffness, and better precision than serial manipulators, therefore, parallel manipulators are widely applied to the fields of motion simulator, NC machine tools, medical equipments, etc. This dissertation designs a kind of6-DOF redundant parallel mechanisms as the core of adjusting equipments with adjusting drill pipe vertical in well drilling, performing analysis on the6-DOF parallel mechanism in the sides of mechanical structure, kinematic, dynamics, workspace and control. The main work can be described as follows:The overall layout and adjusting method of adjusting equipments with the vertical well drilling is introduced, the geometry model of6-DOF parallel mechanism is developed, as well as structure analysis including the degrees of freedom analysis, modal analysis, harmonic response analysis, etc. The rationality of structure is validated by the analysis results.Workspace analysis is imposed on the redundant parallel mechanism. Two major constraint factors were discussed as follows:the largest expansion amount of each branched-chain and the scope of the kinematic pair corner. Meanwhile, three-dimensional search method is adopted to search for the workspace of the moving platform, laying the foundation on the further study of kinematic analysis of the mechanism.The kinematic analysis is imposed on the parallel mechanisms. Based on the mechanism model, some analytic formulae are derived for solving the inverse displacements, velocities and accelerations of each branched-chain, as well as kinematical relational expression between branched-chains and moving platform. Furthermore, dynamic equations of the mechanism are established through Newton-Euler equations and Lagrange equations, respectively. Finally, kinematics numerical example is given through numerical analysis in order to provide the reference for the further study on the dynamics of the redundant parallel mechanism.Based on MATLAB and ADAMS joint simulation, the model of redundant parallel mechanism is parameterized. Firstly, kinematic is analyzed on the redundant parallel mechanism with ADAMS software, and kinematics modeling is correctly verified. Secondly, with the established actual geometric model for reference, we focused on the dynamic analysis of the redundant parallel mechanism, the actuating force and torque of each branch chain in given position and orientation is obtained, compared with the dynamics of parallel mechanism without redundant condition, which provides an important basis for building experiment platform.Preliminary experiment platform of the redundant parallel mechanism is constructed. In order to be a reliable integration system of machine, electricity and liquid, the redundant parallel mechanism cannot get away from servo control system and controller of high efficient. Based on the introduction of experimental part of redundant parallel mechanism, including the design of mechanical structure, the design of hydraulic system and the design of control system, the hydraulic system is mainly introduced as well as the design of hardware and software of control system, in order to laying a foundation on further study in control and application of the redundant parallel mechanism.