Research on the Positioning Accuracy of the Drill Pipe Manipulator Based on the Flexible Revolute Pair

Because the analysis based on the rigid body hypothesis cannot meet the accuracy demand of the high speed motion, the analyzing method based on the flexible revolute pair is introduced to study the positioning accuracy of the drill pipe grasping manipulator of the automatic drilling rig. In the study of the manipulator pose accuracy, the flexible model of the revolute pair is constructed by comprehensively considering the flexible characteristics caused by material, structure, motion and transmission. The dynamic equation of the flexible revolute pair and the mathematical model of the terminal pose error are derived based on Lagrange function and equation. It is proved by the simulation and the application that the analyzing method based on the flexible revolute pair can inhibit the terminal pose error and is helpful to increase the one-time-success rate of the drill pipe delivery and the overall drilling construction efficiency.