The Research On Simulation Of Dynamics And Control Performance Of The Hybrid Robot For The Assembly Of A Blowout Preventer

The hybrid robot for the assembly of a blowout preventer is a robot used for the automatic assembly of a blowout preventer to prevent the blowout of oil in the case of workover blowout.Emergency measures should be taken as soon as blowout occers,otherwise it will cause a huge loss of property.But at present,the main task for workover blowout in the process of emergency rescue is complished by the people,the working conditions are bad and danger.Therefore,it is significant to develop automation equipment or robot which can instead of people to complete the blowout rescue mission.The main contents of this paper are as follows:Putting forward the structure scheme of the robot on the basis of the requirements of blowout rescue mission.Applicating D-H matrix method to establish the kinematics model of the robot,and deriving the position simulation between driving joints and the end effector of the robot. Optimizing the simulation of linkages of the robot arm on the basis of position simulation analysis,after which the displacement of the end effector of the robot and the displacement of driving joints will present proportional relationship.Applicating the ADAMS software to verify the results of decoupling optimization of the robot.Appling MATLAB and ADAMS to carry on dynamics simulation analysis respectively. Verifying the correctness of the derived dynamic equations by contrasting the simulation results.For expliciting the dynamic characteristics of the robot,building the ADAMS and MATLAB co-simulation platform to make dynamics simulation analysis of the robot under the control operation of blowout,which can provide a theoretical basis for the selection of the servo motor.In order to improve the motion stability and location accuracy of the robot,designing the fuzzy PID controller by combining the fuzzy control and conventional PID control.Making control performance analysis of the robot using the fuzzy PID control by using ADAMS and MATLAB co-simulation platform to verify the feasibility of the fuzzy PID control strategy.