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《Petroleum Exploration and Development》 2010-01
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Dynamic simulation of auto-centralizer for horizontal well traction robot based on ADAMS

Bai Xianglin,Zhang Xutang,Liu Wenjian(School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,China)  
Traction robot conveying technology is efficient in horizontal well logging.Auto-centralizer is an assistant support to bear the weight of robot and center robot in oil tube while logging.The mechanical model for auto-centralizer with four pair bias arms was built based on spring-lever mechanism.ADAMS(Automatic Dynamic Analysis of Mechanical Systems) was applied to analyze the sensitiveness coefficient of structural parameters and spring force,thus optimizing the structural parameters.Consequently,a simulation model was built based on the optimization result,and a simulation study was carried out on the mechanics property and dynamic performance with ADAMS mechanics system modeling and simulation module.The results implied that the original structure had a disadvantage while crossing obstacles.Further studies indicated that the coupling hinge joint between the pair arms couldn't form a closed triangle of force while crossing obstacles.We have employed an improved structure to overcome it by adding a connecting lever to eliminate the constraint between the arms.Contrast experiments show that the new structure avoids bearing load with one side and has less shock while crossing obstacles,thus improving the smoothness of movement for the traction robot.
【Fund】： “863”国家高科技计划资助项目(2007AA06Z231)
【CateGory Index】： TE938
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