Dynamics of rotary drilling with non-uniformly distributed blades

Yan, Yao; Wiercigroch, Marian

doi:10.1016/j.ijmecsci.2019.05.016

Cited by 37 publications

(17 citation statements)

References 38 publications

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“…The fundamental problem is actually simplified as the dynamic interaction of the rigid rod with the elastic response of lunar regolith. Furthermore, the resistive interactions in the axial, lateral, and rotational direction are modeled as the axial, lateral spring, and torsional springs [46]. The underground locomotion excavates and transports the regolith and rocks onto the ground.…”

Section: Model Descriptionmentioning

confidence: 99%

Predictive Model of a Mole-Type Burrowing Robot for Lunar Subsurface Exploration

Yuan

Zhao

et al. 2023

Aerospace

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In this work, a dynamic model is proposed to simulate the drilling and steering process of an autonomous burrowing mole to access scientific samples from the deep subsurface of the Moon. The locomotive module is idealized as a rigid rod. The characteristic parameters are considered, including the length, cross-section diameter, and centroid of a cylindrical rod. Based on classical Lagrangian mechanics, a 3-DOF dynamic model for the locomotion of this autonomous device is developed. By introducing resistive force theory, the interaction scheme between the locomotive body and the lunar regolith is described. The effects of characteristic parameters on resistive forces and torques are studied and discussed. Proportional-derivative control strategies are introduced to calculate the tracking control forces following a planned trajectory. The simulation results show that this method provides a reliable manipulation of a mole-type robot to avoid obstacles during the tracking control process in layered sediments. Overall, the proposed reduced-order model is able to simulate the operating and controlling scenarios of an autonomous burrowing robot in lunar subsurface environments. This model provides intuitive inputs to plan the space missions of a drilling robot to extract subsurface samples on an extraterrestrial planet such as the Moon or Mars.

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Section: Model Descriptionmentioning

confidence: 99%

Predictive Model of a Mole-Type Burrowing Robot for Lunar Subsurface Exploration

Yuan

Zhao

et al. 2023

Aerospace

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“…The system tends to instability as the weight on bit increases and the angular speed at the top decreases. To be more specific, it represents a Hopf bifurcation [38,39,2,40,41,42], where the fixed point loses stability, as a pair of complex conjugate eigenvalues crosses the complex plane imaginary axis; hence a limit cycle branches from the fixed point.…”

Section: Stability Analysismentioning

confidence: 99%

ABC for model selection and parameter estimation of drill-string bit-rock interaction models and stochastic stability

Castello¹,

Ritto²

2022

Preprint

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The bit-rock interaction considerably affects the dynamics of a drill string. One critical condition is the stick-slip oscillations, where torsional vibrations are high; the bit angular speed varies from zero to about two times (or more) the top drive nominal angular speed. In addition, uncertainties should be taken into account when calibrating (identifying) the bit-rock interaction parameters. This paper proposes a procedure to estimate the parameters of four bit-rock interaction models, one of which is new, and at the same time select the most suitable model, given the available field data. The approximate Bayesian computation (ABC) is used for this purpose. An approximate posterior probability density function is obtained for the parameters of each model, which allows uncertainty to be analyzed. Furthermore, the impact of the uncertainties of the selected models on the torsional stability map (varying the nominal top drive angular speed and the weight on bit) of the system is evaluated.

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“…However, this also brings more difficulties for the engineers to conduct a complex and concise simulation [28]. In the design stage, to have a quick evaluation of the impact resistance of glass products, an analytical model might be more practical for engineers [29].…”

Section: Laminated Glass Subjected To Hard Body Impactmentioning

confidence: 99%

Experimental and analytical study on the pre-crack impact response of thick multi-layered laminated glass under hard body impact

Wang

Huang

Yang

et al. 2021

International Journal of Mechanical Sciences

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Dynamics of rotary drilling with non-uniformly distributed blades

Cited by 37 publications

References 38 publications

Predictive Model of a Mole-Type Burrowing Robot for Lunar Subsurface Exploration

Predictive Model of a Mole-Type Burrowing Robot for Lunar Subsurface Exploration

ABC for model selection and parameter estimation of drill-string bit-rock interaction models and stochastic stability

Experimental and analytical study on the pre-crack impact response of thick multi-layered laminated glass under hard body impact

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