Downhole Robotic Arm Linear Actuators Borehole Manipulation
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Solution Overview
Problem
Conventional drilling assemblies face challenges in efficiently manipulating tools like sidewall coring bits in the confined and restricted environment of a borehole, where space is limited and precise movement is required.
Innovation Solution
The use of a compact actuator assembly with multiple linear actuators that provide translational and rotational movement, allowing for precise positioning and motion of objects within the borehole, including sidewall coring bits, by conveying a body with these actuators into the borehole and operatively connecting them to the tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional drilling assemblies are used to manipulate tools like sidewall coring bits, then the drilling operation can proceed, but the manipulation efficiency is reduced due to the confined and restricted environment of the borehole
Solution Approach 1:
The manipulation system is divided into multiple independent linear actuators (first, second, and third linear actuators) that can be independently controlled. Each actuator handles specific degrees of freedom (translational and rotational movements), allowing complex manipulation tasks to be broken down into simpler, coordinated actions that improve efficiency in confined spaces
Solution Approach 2:
The linear actuators are disposed within a compact body structure that is integrated into the drilling assembly. The actuators and their components are nested within the limited space of the borehole environment, with the first, second, and third linear actuators arranged to maximize space utilization while maintaining independent functionality for precise tool manipulation
2Manufacturing precision
If space is limited in the borehole environment, then the available volume for manipulation is reduced, but precise movement of tools is still required
Solution Approach 1:
The system uses multiple linear actuators that can dynamically adjust their extension and retraction to provide precise positional control of the manipulated tool. The actuators enable six-degree-of-freedom movement (three translational, three rotational) within a compact volume, allowing precise positioning without requiring large physical spaces
Solution Approach 2:
The manipulation system introduces multiple dimensions of movement through the combination of translational and rotational capabilities of the linear actuators. By operating in six-dimensional space (three positional, three orientational degrees of freedom), the system achieves precise control within limited volumetric constraints by utilizing angular and directional variations rather than simply increasing linear space
Data Source
AI summary
An apparatus for manipulating an object in a borehole in an earthen formation includes a body configured to be conveyed along the borehole and a plurality of linear actuators disposed in the body and operatively connected to the object. The plurality of linear actuators applies a translational and rotational movement to the object. A related method includes applying a translational and rotational movement to the object using the plurality of linear actuators.