The research of five-bar robot for pressurized autosampling for enhanced oil recovery research

Jian, Shengqi (2016) The research of five-bar robot for pressurized autosampling for enhanced oil recovery research. Masters thesis, Memorial University of Newfoundland.

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Abstract

Robots have been widely used in industry and are becoming popular in people’s daily lives. It makes production more efficient and everyday life more convenient. In this research, a robotic auto-sampler is designed, developed and tested to sample and collect two-phase fluids from a core flooding. First of all, this thesis introduces the history of parallel robot industry the state of the art. Then, based on the problem statement, the most reasonable concept is chosen as the Five-Bar parallel robot. Theoretical simulations are made including kinematic analysis to calculate its mechanical dimension and dynamic analysis to calculate the actuator torque. As a result of that, the theoretical dimensions can be obtained and actuators can be chosen. In the design and control phase, the entire integrated system is presented in detail. This thesis researches the design process of an auto-sampler based on a five-bar robot. From the proposed problem to the robot fabrication and programming, the entire system is designed, analyzed, built and tested.

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