强冲击扰动下油田抢喷机器人精准作业的顺应性研究

The rescue must be carried out immediately after the oil well blowout because the oil well blowout out of control will lead to disaster. At present, the rescue for the oil well blowout is mainly performed by the rescue worker in China. During the rescue, the injuries and deaths of the workers occur frequently. So the worker's rescue should be replaced by the robot's. But it is very difficult for the robot to install the blowout preventer on the mouth of the oil blowout under the strong impact perturbation. Accordingly, the compliance of the rescue robot must be studied in order to meet the requirement of the rescue of the oil well blowout.. The kinematic and dynamic models of the variable topology mechanism of the rescue robot are established and the parameter calibration is also carried out. The position and orientation of the rescue robot can be identified by the high-precision kinematic model and geometry constraints. The energy and stiffness constraint equations among the blowout fluid, mechanical and hydraulic systems are established. Then the simulation model of the multidiscipline system is established. The compliance evaluation indices based on energy distribution and stiffness matching are presented in this study. At last, the design method of the mechanism compliance is proposed, which provides the theoretical bases for the development and manufacturing of the rescue robot for oil well blowout in China.

油田井喷事故发生后需要立即采取抢喷措施加以控制，否则井喷失控便会产生严重后果。目前我国主要依靠人工实施抢喷作业，人员伤亡经常发生。依靠机器人实施抢喷作业是替代现有人工抢险方式的有效途径，其技术难点在于井喷流强冲击扰动下如何实现机器人顺应载荷、精准作业，这对顺应性研究提出了新的任务需求。因此，研究抢喷机器人顺应性能对于发展机器人顺应性设计理论具有重要的科学意义。. 针对油田抢喷作业复杂工况，建立抢喷机器人变拓扑机构运动/动力学模型并进行参数标定，基于锚定生根定位实现抢喷作业中机器人自身位姿识别，建立基于能量和刚度接口的机器人抢喷作业多学科统一仿真模型；提出基于能量分配和刚度匹配的顺应性能评价指标，用于评价抢喷机器人缓解突变大载荷和精准作业的顺应性能力；建立基于末端匹配刚度反演运算的抢喷机器人机构顺应性设计方法，研制样机并进行实验研究，为我国油田抢喷机器人系统设计和自动化控制提供理论依据。

油田井喷事故发生后需要立即采取抢喷措施加以控制，否则井喷失控便会产生严重后果。目前我国主要依靠人工实施抢喷作业，人员伤亡经常发生。依靠机器人实施抢喷作业是替代现有人工抢险方式的有效途径，其技术难点在于井喷流强冲击扰动下如何实现机器人顺应载荷、精准作业，这对顺应性研究提出了新的任务需求。因此，研究抢喷机器人顺应性能对于发展机器人顺应性设计理论具有重要的科学意义。.针对油田抢喷作业复杂工况，建立抢喷机器人变拓扑机构运动/动力学模型并进行参数标定，基于锚定生根定位实现抢喷作业中机器人自身位姿识别，建立基于能量和刚度接口的机器人抢喷作业多学科统一仿真模型；提出基于能量分配和刚度匹配的顺应性能评价指标，用于评价抢喷机器人缓解突变大载荷和精准作业的顺应性能力；建立基于末端匹配刚度反演运算的抢喷机器人机构顺应性设计方法，研制样机并进行实验研究，为我国油田抢喷机器人系统设计和自动化控制提供理论依据。项目发表SCI论文2篇，申请国家发明专利2项，培养博士生1名，在读工程硕士2名。