Finite Element Analysis Based Design of Mobile Robot for Removing Plug Oil Well

摘要

In order to develop the mobile robot for removing the plug oil well, the robot was designed based on the wheel-type and leg-type robot mechanism. A well functioning prototype has been manufactured. To demonstrate the validity and the benefit of the mobile robot, supporting mechanism and guiding rod were chosen to design based on the FEM. The mathematical model of the supporting mechanism is established and the mechanical property is analyzed using the FEM. The deformation and stress of some components of the supporting mechanism and the guiding rod is investigated. The results show that the supporting mechanism and the guiding rod have excellent performance with little displacement and small stress under working condition. The strength and rigidity of supporting mechanism and the guiding rod are good enough to ensure the reliability of the whole robot mechanism.