원문정보
초록
영어
The paper designs and develops a casing cutting robot for the platform decommission. This robot can achieve the sea-bottom casing reclamation duties required by the environment protection acts related to decommissioning of offshore oil plants. The objective of this research work was to investigate and explore the casing cutting robot model for the platform decommission. A 2-linear axis cutting robot is prototyped and a test bench is designed in the laboratory for the research. A surface control system provides remote control functionalities for the operator to command signals and automatic sequences. The robot control system based on Programmable Multi-Axis Controller (PMAC), which makes it easier to be operated. Moreover a Human Machine Interface (HMI) is developed to monitor and control the cutting process conveniently. The laboratory test results show that the robot system developed is very usable and it is working satisfactory for the casing cutting.
목차
1. Introduction
2. The Working Environment of the Robot
3. Robot Design Specifications
3.1 Manipulator
3.2 Control and monitoring system
3.3 HMI
4. System Integration and Laboratory Test
5. Conclusions and Future Research
Acknowledgements
References