Kinematic Analysis and Trajectory Simulation of the Drilling Table Surface Robotic Arm of an Oil Drilling Rig
Year: 2025
Type: conference-paper
Abstract: To make the mechanical arm of the drilling table surface of the oil drilling rig reach the predetermined position accurately and stably, the vibration of the mechanical arm must be reduced, and its service life increased. The article takes the three-degree-of-freedom robotic arm as the research object, establishes its joint coordinate system based on the improved D-H method and deduces the kinematic equations of the robotic arm, establishes its kinematic model in MATLAB using the toolbox function, and verifies the accuracy of solving the forward and inverse kinematics by substituting the position angle. And the trajectory planning of the robotic arm is carried out using the fifth-degree difference polynomial algorithm. The angular displacement, angular velocity, and angular acceleration curves of each joint are obtained through simulation and analysis. From the results, it can be seen that the trajectory optimization of the fifth-degree polynomial interpolation method is effective, which can ensure the smooth and continuous angular, velocity,and acceleration curves of each joint. It provides a reference basis for the subsequent research on the motion planning and dynamics analysis of the robotic arm.
Authors: Hanwen Li, Yanwei Feng, Qing Luo
Institution: Tianshui Normal University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W4414288664