Abstract: A method for determining a productivity of a coalbed methane well without shutting down the well includes steps of: obtaining coalbed methane basic data; based on PVT experimental data, determining a relationship table between a pressure and a coalbed methane deviation factor, and a relationship table between the pressure and a pseudo-pressure; recording daily gas production rates, bottomhole flow pressures, and cumulative gas productions at each stabilized flow pressure test moment in at least three different production stages; determining formation pressures corresponding to each stabilized flow pressure test moment based on a material balance equation; according to the formation pressures, the bottomhole flow pressures and the production rates, determining coefficients in a deliverability equation of the coalbed methane well for determining the deliverability equation; substituting the formation pressures and the bottomhole flow pressures into the deliverability equation for obtaining corresponding product

Abstract: A 6-dof parallel robot with a double-gyroscopic component comprises a fixed platform (1), a moving platform (2) and two modules of 3-dof translational robotic component (3); wherein two modules of 3-dof translational robotic component (3) are connected between the moving platform (2) and the fixed platform (1). The 6-dof parallel robot with a double-gyroscopic component provided by the present invention has the following advantages: excellent dynamic performance, compact structure, six degrees of freedom motion with no singularity, high rigidity, high precision, good stability, a large rotational workspace, etc., thus having a broad prospect in both scientific research and industrial application.

Abstract: A 6-dof parallel robot with a double-gyroscopic component comprises a fixed platform (1), a moving platform (2) and two modules of 3-dof translational robotic component (3); wherein two modules of 3-dof translational robotic component (3) are connected between the moving platform (2) and the fixed platform (1). The 6-dof parallel robot with a double-gyroscopic component provided by the present invention has the following advantages: excellent dynamic performance, compact structure, six degrees of freedom motion with no singularity, high rigidity, high precision, good stability, a large rotational workspace, etc., thus having a broad prospect in both scientific research and industrial application.