Abstract: The pipe automatic transferring system is designed combining with the construction demand of the continental scientific drilling rig. The system is simple in structure, reliable, easy to control, and can replace manual operation to finish the work of clamping, hoisting, putting down, translation, rotation the drill pipe, and realizing the function of automatic transfer operation and discharge operation. The mechanical structure, working principle and movement sequence are introduced. D-H coordinates are obtained through the theoretical analysis of kinematics system model. The kinematic equations and inverse solutions are got through analysis and solving, and the transformation relationship is established between the space position, orientation vector, the pose of the end clamping manipulator and the moving parameters of each motion component, and it provides a foundation for the motion control and trajectory planning of the system. The system model is established and simulation is conducted by using the software ADAMS, and the kinematics simulation curves of position, posture and trajectory of the clamp manipulator are obtained, which verify the performance of the system and provide an important basis for the movements optimize and control of the actual action for the system.

Key words: Kinematics analysis, Pipe transferring system, Position and orientation, Simulation research