High Acid Gas Laboratory Sent Sampling Robot Design

High acidity gas laboratory is a scientific research-testing platform based on high acidity gas reservoirs, which is build for testing the acid-resistance index of materials in high sulfur gas environment and different conditions of temperature and pressure.During process of measurement, specimen materials that need to be corroded should be put in the laboratory test tube,then after finish the test operators take the samples out of test tube for the subsequent analysis. However, there are some reasons in the measurement process such as the sensors failure, operation errors, improper protective measures probably exposure the operator in a high content of H2S environment, which hurt the health of operators even induce some nasty accidents.In order to assist the operator conduct some experiments with high acid gas and safely take samples in and out, it is necessary to make the process of sending sample automatic and now it has been a new hot pot in the high acidity laboratory construction process.This thesis is based on characters of the first high acidity gas laboratory in china that was built by Puguang gas field. According to the taking and sending process a new sampling robot was designed for helping operators. The sampling robot mainly consist of Omni-directional mobile platform, four degrees of freedom robotic arm and manipulator. For the purpose of some remote control and complex experiments such as test tube valves switching, taking and sending samples the sampling robot transmits the firstperspective to the control room by the airborne camera and wireless transmission module.In this paper, performance indicators of the sampling robot were researched first and also designed overall scheme. Then using three-dimensional modeling software design structure of sampling robot, including omnidirectional mobile platform, four degrees of freedom mechanical arm and manipulator. The all-direction mobility model for the movement platform was introduced which was based on the Mecanum wheel, and the direct and inverse kinematics models were done. According to the demand of control for the sampling robot, control circuits, remote control and wireless figure transmission were designed.In order to achieve all-directional movement, this paper also studied control algorithm of double closed loop speed regulation system to control direct current motor, and trajectory planning algorithms for mechanical arm in joint space and Cartesian space were done.Finally, though making the prototype of sampling robot show that the principle is right and structure is reasonable and operating procedure is convenient. Thus, it has proved that the sampling robot has good practicability.