Human-machine collaboration is becoming increasingly more necessary, and so collaborative robot applications are also in high demand. We selected a UR10 robot as our research subject for this study. First, we applied D-H coordinate transformation of the robot to establish a link system, and we then used inverse transformation to solve the robot's inverse kinematics and find all the joints. Use Lagrange method to analysis UR robot dynamics; use ADAMS multibody dynamics simulation software to dynamic simulation; verifying the correctness of the derived kinetic models.
Hydrate formation in pipelines seriously affects the efficiency of energy transmission. Adopting the production process of gas pipelines in deep-water or permafrost regions as the engineering application background, hydrate formation and deposition characteristics at different locations in gas pipelines are analyzed to realize the quantitative prediction of high-risk areas and degree of hydrate plugging in pipelines. A typical deep-water gas pipeline in the South China Sea is selected as an example. The calculation results show that the long-distance pipeline exhibits an obvious hydrate blockage risk area, which occurs 700-3200 m away from the pipeline inlet. The high-risk area of hydrate plugging in the system moves upstream of the pipeline with decreasing ambient temperature. The risk of hydrate blockage increases with decreasing pipeline inner diameter. The established quantitative prediction method for hydrate deposition in deep-water or permafrost gas pipelines accurately locates high-risk areas of hydrate plugging, which could effectively guide hydrate prevention and notably reduce the cost of hydrate control in deep-water or permafrost gas pipelines.
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