Dynamic modeling of a hybrid assembly robot for blowout preventing based on the blowout environment simulation

In this paper a hybrid robot is proposed used for the installation of a valve to prevent the oil blowout. The hybrid robot has three components, which are waist component, parallel mechanism component and wrist component. The wrist component of the robot is designed with RCC structure, which is beneficial to the installation of the valve. And the parallel mechanism component is mainly in charge of the transport of the valve by actuating the end-effector. The forward kinematics of the hybrid robot is established by Denabit-Hartenberg (D-H) law based on the equivalent serial mechanism. And then the dynamic model is derived without considering of the impact force. But the dynamic model will be not accurate when the valve under blowout condition. So, the motion process of the valve under blowout condition was simulated using dynamic mesh model in Fluent. And the force-position functions of the valve have been derived by using least-squares approximation. Based on the force-position functions, the dynamic model with impact force is presented.