Rigid-elastic Coupling Dynamic Model and Dynamic Characteristics of a Spring-type of Traction Robot

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ZHAO, Jianguo ;WANG, Binfan ;LIU, Qingyou ;WANG, Guorong  ; ZENG, Xiangfeng .
Rigid-elastic Coupling Dynamic Model and Dynamic Characteristics of a Spring-type of Traction Robot. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 68, n.11, p. 669-682, october 2022. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/rigid-hyperelastic-coupling-dynamic-model-and-dynamic-characteristics-of-spring-type-of-traction-robot/>. Date accessed: 12 jul. 2024. 
doi:http://dx.doi.org/10.5545/sv-jme.2022.219.
Zhao, J., Wang, B., Liu, Q., Wang, G., &  Zeng, X.
(2022).
Rigid-elastic Coupling Dynamic Model and Dynamic Characteristics of a Spring-type of Traction Robot.
Strojniški vestnik - Journal of Mechanical Engineering, 68(11), 669-682.
doi:http://dx.doi.org/10.5545/sv-jme.2022.219
@article{sv-jmesv-jme.2022.219,
	author = {Jianguo  Zhao and Binfan  Wang and Qingyou  Liu and Guorong   Wang and Xiangfeng   Zeng},
	title = {Rigid-elastic Coupling Dynamic Model and Dynamic Characteristics of a Spring-type of Traction Robot},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {68},
	number = {11},
	year = {2022},
	keywords = {spring-type of traction robot; spring-type of rigid-elastic coupling dynamic model; spring-type of anchoring mechanism; motion anchoring; },
	abstract = {The traditional anchoring mechanism of the traction robot is rigid and is easily stuck in the wellbore. To solve this problem, a novel anchoring mechanism is proposed based on the spring-type of anchoring mechanism of the inclined block. The key to the movement of the traction robot is whether the traction robot can be anchored in the wellbore under the action of the traction force. Therefore, a rigid-elastic coupling dynamic model of the spring-type of anchoring mechanism under the action of the traction force was established. On this basis, the effects of span, width, thickness, and chamfer parameters on the anchoring performance of the spring-type of traction robot were analysed to design the optimal structure of the anchoring arm. Through the experimental comparison, it was determined that the error between thetheoretical supporting force and the experimental supporting force was only 6.1 %, and the error of the simulated maximum traction force and experimental maximum traction force was 4.9 %. The traction robot can provide a maximum traction force of 14262 N in 178 mm (7-inch) of wellbore pipe. Thus, experiments verified the correctness of the rigid-elastic coupling dynamic model. The research results of this paper lay a foundation for the structural design and engineering application of a spring-type of traction robot. It can effectively ensure the downhole safety of oil and gas wells.},
	issn = {0039-2480},	pages = {669-682},	doi = {10.5545/sv-jme.2022.219},
	url = {https://www.sv-jme.eu/article/rigid-hyperelastic-coupling-dynamic-model-and-dynamic-characteristics-of-spring-type-of-traction-robot/}
}
Zhao, J.,Wang, B.,Liu, Q.,Wang, G., Zeng, X.
2022 October 68. Rigid-elastic Coupling Dynamic Model and Dynamic Characteristics of a Spring-type of Traction Robot. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 68:11
%A Zhao, Jianguo 
%A Wang, Binfan 
%A Liu, Qingyou 
%A Wang, Guorong  
%A  Zeng, Xiangfeng 
%D 2022
%T Rigid-elastic Coupling Dynamic Model and Dynamic Characteristics of a Spring-type of Traction Robot
%B 2022
%9 spring-type of traction robot; spring-type of rigid-elastic coupling dynamic model; spring-type of anchoring mechanism; motion anchoring; 
%! Rigid-elastic Coupling Dynamic Model and Dynamic Characteristics of a Spring-type of Traction Robot
%K spring-type of traction robot; spring-type of rigid-elastic coupling dynamic model; spring-type of anchoring mechanism; motion anchoring; 
%X The traditional anchoring mechanism of the traction robot is rigid and is easily stuck in the wellbore. To solve this problem, a novel anchoring mechanism is proposed based on the spring-type of anchoring mechanism of the inclined block. The key to the movement of the traction robot is whether the traction robot can be anchored in the wellbore under the action of the traction force. Therefore, a rigid-elastic coupling dynamic model of the spring-type of anchoring mechanism under the action of the traction force was established. On this basis, the effects of span, width, thickness, and chamfer parameters on the anchoring performance of the spring-type of traction robot were analysed to design the optimal structure of the anchoring arm. Through the experimental comparison, it was determined that the error between thetheoretical supporting force and the experimental supporting force was only 6.1 %, and the error of the simulated maximum traction force and experimental maximum traction force was 4.9 %. The traction robot can provide a maximum traction force of 14262 N in 178 mm (7-inch) of wellbore pipe. Thus, experiments verified the correctness of the rigid-elastic coupling dynamic model. The research results of this paper lay a foundation for the structural design and engineering application of a spring-type of traction robot. It can effectively ensure the downhole safety of oil and gas wells.
%U https://www.sv-jme.eu/article/rigid-hyperelastic-coupling-dynamic-model-and-dynamic-characteristics-of-spring-type-of-traction-robot/
%0 Journal Article
%R 10.5545/sv-jme.2022.219
%& 669
%P 14
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 68
%N 11
%@ 0039-2480
%8 2022-10-13
%7 2022-10-13
Zhao, Jianguo, Binfan  Wang, Qingyou  Liu, Guorong   Wang, & Xiangfeng   Zeng.
"Rigid-elastic Coupling Dynamic Model and Dynamic Characteristics of a Spring-type of Traction Robot." Strojniški vestnik - Journal of Mechanical Engineering [Online], 68.11 (2022): 669-682. Web.  12 Jul. 2024
TY  - JOUR
AU  - Zhao, Jianguo 
AU  - Wang, Binfan 
AU  - Liu, Qingyou 
AU  - Wang, Guorong  
AU  -  Zeng, Xiangfeng 
PY  - 2022
TI  - Rigid-elastic Coupling Dynamic Model and Dynamic Characteristics of a Spring-type of Traction Robot
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2022.219
KW  - spring-type of traction robot; spring-type of rigid-elastic coupling dynamic model; spring-type of anchoring mechanism; motion anchoring; 
N2  - The traditional anchoring mechanism of the traction robot is rigid and is easily stuck in the wellbore. To solve this problem, a novel anchoring mechanism is proposed based on the spring-type of anchoring mechanism of the inclined block. The key to the movement of the traction robot is whether the traction robot can be anchored in the wellbore under the action of the traction force. Therefore, a rigid-elastic coupling dynamic model of the spring-type of anchoring mechanism under the action of the traction force was established. On this basis, the effects of span, width, thickness, and chamfer parameters on the anchoring performance of the spring-type of traction robot were analysed to design the optimal structure of the anchoring arm. Through the experimental comparison, it was determined that the error between thetheoretical supporting force and the experimental supporting force was only 6.1 %, and the error of the simulated maximum traction force and experimental maximum traction force was 4.9 %. The traction robot can provide a maximum traction force of 14262 N in 178 mm (7-inch) of wellbore pipe. Thus, experiments verified the correctness of the rigid-elastic coupling dynamic model. The research results of this paper lay a foundation for the structural design and engineering application of a spring-type of traction robot. It can effectively ensure the downhole safety of oil and gas wells.
UR  - https://www.sv-jme.eu/article/rigid-hyperelastic-coupling-dynamic-model-and-dynamic-characteristics-of-spring-type-of-traction-robot/
@article{{sv-jme}{sv-jme.2022.219},
	author = {Zhao, J., Wang, B., Liu, Q., Wang, G.,  Zeng, X.},
	title = {Rigid-elastic Coupling Dynamic Model and Dynamic Characteristics of a Spring-type of Traction Robot},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {68},
	number = {11},
	year = {2022},
	doi = {10.5545/sv-jme.2022.219},
	url = {https://www.sv-jme.eu/article/rigid-hyperelastic-coupling-dynamic-model-and-dynamic-characteristics-of-spring-type-of-traction-robot/}
}
TY  - JOUR
AU  - Zhao, Jianguo 
AU  - Wang, Binfan 
AU  - Liu, Qingyou 
AU  - Wang, Guorong  
AU  -  Zeng, Xiangfeng 
PY  - 2022/10/13
TI  - Rigid-elastic Coupling Dynamic Model and Dynamic Characteristics of a Spring-type of Traction Robot
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 68, No 11 (2022): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2022.219
KW  - spring-type of traction robot, spring-type of rigid-elastic coupling dynamic model, spring-type of anchoring mechanism, motion anchoring, 
N2  - The traditional anchoring mechanism of the traction robot is rigid and is easily stuck in the wellbore. To solve this problem, a novel anchoring mechanism is proposed based on the spring-type of anchoring mechanism of the inclined block. The key to the movement of the traction robot is whether the traction robot can be anchored in the wellbore under the action of the traction force. Therefore, a rigid-elastic coupling dynamic model of the spring-type of anchoring mechanism under the action of the traction force was established. On this basis, the effects of span, width, thickness, and chamfer parameters on the anchoring performance of the spring-type of traction robot were analysed to design the optimal structure of the anchoring arm. Through the experimental comparison, it was determined that the error between thetheoretical supporting force and the experimental supporting force was only 6.1 %, and the error of the simulated maximum traction force and experimental maximum traction force was 4.9 %. The traction robot can provide a maximum traction force of 14262 N in 178 mm (7-inch) of wellbore pipe. Thus, experiments verified the correctness of the rigid-elastic coupling dynamic model. The research results of this paper lay a foundation for the structural design and engineering application of a spring-type of traction robot. It can effectively ensure the downhole safety of oil and gas wells.
UR  - https://www.sv-jme.eu/article/rigid-hyperelastic-coupling-dynamic-model-and-dynamic-characteristics-of-spring-type-of-traction-robot/
Zhao, Jianguo, Wang, Binfan, Liu, Qingyou, Wang, Guorong , AND  Zeng, Xiangfeng.
"Rigid-elastic Coupling Dynamic Model and Dynamic Characteristics of a Spring-type of Traction Robot" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 68 Number 11 (13 October 2022)

Authors

Affiliations

  • Southwest Petroleum University, School of Mechantronic Engineering, China 1
  • Yunnan Shuifu Yuntianhua Co., China 2

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 68(2022)11, 669-682
© The Authors 2022. CC BY-NC 4.0 Int.

https://doi.org/10.5545/sv-jme.2022.219

The traditional anchoring mechanism of the traction robot is rigid and is easily stuck in the wellbore. To solve this problem, a novel anchoring mechanism is proposed based on the spring-type of anchoring mechanism of the inclined block. The key to the movement of the traction robot is whether the traction robot can be anchored in the wellbore under the action of the traction force. Therefore, a rigid-elastic coupling dynamic model of the spring-type of anchoring mechanism under the action of the traction force was established. On this basis, the effects of span, width, thickness, and chamfer parameters on the anchoring performance of the spring-type of traction robot were analysed to design the optimal structure of the anchoring arm. Through the experimental comparison, it was determined that the error between thetheoretical supporting force and the experimental supporting force was only 6.1 %, and the error of the simulated maximum traction force and experimental maximum traction force was 4.9 %. The traction robot can provide a maximum traction force of 14262 N in 178 mm (7-inch) of wellbore pipe. Thus, experiments verified the correctness of the rigid-elastic coupling dynamic model. The research results of this paper lay a foundation for the structural design and engineering application of a spring-type of traction robot. It can effectively ensure the downhole safety of oil and gas wells.

spring-type of traction robot; spring-type of rigid-elastic coupling dynamic model; spring-type of anchoring mechanism; motion anchoring;