Mechanical Design and Modelling of a Robotic Planetary Drilling System

2006 ◽  
Author(s):  
Yinghui Liu ◽  
Brian Weinberg ◽  
Constantinos Mavroidis
Keyword(s):  
Mechanical Design ◽  
Modeling And Analysis ◽  
Directional Control ◽  
Communication Module ◽  
Biological Sampling ◽  
Drilling System ◽  
Main Components ◽  
Propulsion Unit ◽  
Drilling Bit ◽  
Steering Force

Deep space drilling is necessary for appropriate chemical and biological sampling for subsurface exploration. The Robotic Planetary Drilling System (RPDS), which is currently being developed by our team, is designed to be a compact self-propelled, steerable electromechanical drilling system that can penetrate into large depths in planetary bodies. In this paper we present the detailed innovative mechanical design of the RPDS. Its main components are: a) the drill bit/cuttings bucket, b) the rotary propulsion unit including novel three 3-degree of freedom (DOF) propulsion actuators, c) the power/control module, d) the non-rotating steering unit including three 1-DOF steering actuators and e) the communication module. Three 3-DOF propulsion actuators uniformly distributed around the rotary propulsion unit impart rotating, linear motion to the drilling bit, while another three 1-DOF steering actuators provide the steering force for automatic directional control. The RPDS is propelled in the manner of a turning screw, which offers simpler kinematics structure, higher efficiency and thus, potential for miniaturization and deep drilling. The mathematical modeling and analysis of the RPDS that were conducted to evaluate its performance are also being presented in this paper.

An Extensible Computer Environment for Modeling and Analysis in Mechanical Design

1991 ◽  
Author(s):  
T. A. Mashburn ◽  
D. C. Anderson
Keyword(s):  
Design Process ◽  
Mechanical Design ◽  
Modeling And Analysis ◽  
Computer Environment ◽  
And Behavior ◽  
Generic Component

Abstract This paper investigates a computer environment approach for the exploration of design behavior in the mechanical design process. Generic component types and behavior modelers are developed based on the needs of mechanical designers and are represented in a computer environment. Built-in component types and physical behaviors are also developed. Extension can then occur as needed during design refinement. The resulting system can support exploration and knowledge refinement during design.

Numerical Simulations of Ocean Drilling System Behavior With a Surface or a Subsea BOP in Waves and Current

2008 ◽  
Author(s):  
Celso K. Morooka ◽  
Raphael I. Tsukada ◽  
Dustin M. Brandt
Keyword(s):  
System Behavior ◽  
Traditional System ◽  
Drilling Rig ◽  
Advantages And Disadvantages ◽  
Ocean Drilling ◽  
Sea Bottom ◽  
Drilling System ◽  
Drilling Rigs ◽  
High Level ◽  
Drilling Bit

Subsea equipment such as the drilling riser and the subsea Blow-Out Preventer (BOP) are mandatory in traditional systems used in deep sea drilling for ocean floor research and petroleum wellbore construction. The drilling riser is the vertical steel pipe that transfers and guides the drill column and attached drilling bit into a wellbore at the sea bottom. The BOP is used to protect the wellbore against uncontrolled well pressures during the offshore drilling operation. Presently, there is a high level of drilling activity worldwide and in particular in deeper and ultra-deeper waters. This shift in depth necessitates not only faster drilling systems but drilling rigs upgraded with a capacity to drill in the deep water. In this scenario, two general drilling systems are today considered as alternatives: the traditional system with the subsea BOP and the alternate system with the surface BOP. In the present paper, the two systems are initially described in detail, and a numerical simulation in time domain to estimate the system behavior is presented. Simulations of a floating drilling rig coupled with the subsea and surface BOP in waves and current are carried out for a comparison between the two methods. Results are shown for riser and BOP displacements. Critical riser issues for the systems are discussed, comparing results from both drilling system calculations. Conclusions are addressed showing advantages and disadvantages of each drilling system, and indicating how to correct the problems detected on each system.

scholarly journals Simulation and Experimental Investigation of a Two-Stage Magnetic Precession Gear

Energies ◽  
2021 ◽  
Vol 14 (7) ◽  
pp. 1838
Author(s):  
Lukasz Macyszyn ◽  
Cezary Jedryczka ◽  
Adam Myszkowski
Keyword(s):  
Mechanical Design ◽  
Maximum Load ◽  
Mechanical Efficiency ◽  
Gear Ratio ◽  
Maximum Efficiency ◽  
The Finite Element Method ◽  
Two Stage ◽  
Fem Model ◽  
And Performance ◽  
Main Components

Gears are common and important components of many types of propulsion systems applied in mechanical engineering. The aim of this paper is to present the mechanical design and performance analysis of a novel two-stage magnetic precession gear (MPG). The main advantage of the proposed design is the ability to obtain higher transmission ratios than other currently known magnetic gear types. A detailed analysis of the performance of the MPG was carried out employing a developed numerical model of the magnetic field in the proposed gear. The MPG model is based on the finite element method (FEM) and allows determining the relations between the torque acting on the main components of the gear, load angles, and air-gap lengths. To validate the developed FEM model, the prototype of an MPG with a 1/144 gear ratio was built and tested. The experiments were also focused on determining the mechanical efficiency as well as the influence of rotational speed and lengths of air gaps on the maximum load torque. The tests indicated that the maximum efficiency of the studied MPG is about 30%, which is comparable to the efficiency of mechanical two-stage precession gears with face meshing.

The Finite Element Modeling and Analysis of Involute Spur Gear

2012 ◽  
Vol 516-517 ◽  
pp. 673-677 ◽  
Author(s):  
Shun Xu ◽  
Yan Zhang
Keyword(s):  
Finite Element ◽  
Mechanical Design ◽  
Three Dimensional ◽  
Spur Gear ◽  
Analysis Model ◽  
Element Analysis ◽  
Finite Element Analysis Model ◽  
Modeling And Analysis ◽  
Gear Mesh ◽  
Design Software

Through three-dimensional mechanical design software Pro/E to build a spur gear solid model, using ANSYS software for the gear mesh, as well as the constraints imposed by the most unfavorable load to determine the location of the discussion, in order to get accurate finite element analysis model. By analyzing, this shows that the effectiveness of the application of ANSYS in gear calculation.

Design and Implementation of Elevator Monitoring Terminal

2014 ◽  
Vol 926-930 ◽  
pp. 1253-1256 ◽  
Author(s):  
Shi Hong Li ◽  
Hui Pu Hu ◽  
Yan Jin
Keyword(s):  
Effective Means ◽  
Computer Software ◽  
Operating Conditions ◽  
Monitoring And Control ◽  
Special Equipment ◽  
Security Issues ◽  
Government Supervision ◽  
Communication Module ◽  
Main Components ◽  
Network Server

Concerning the security issues in the running elevator and the fact that elevator monitoring is an effective means to ensure the safe running of the elevator, and the special equipment, users, manufacturers, and government supervision departments will need to master the operating conditions of the elevator. Therefore, combining with the main components, embedded microprocessor, RF communications modules, sensors and GPRS designed the remote elevator monitoring terminal, and complete real-time acquisition of the state data of the running elevator via GPRS communication module to send data to a remote network server. Monitoring terminal cooperates with the web server, database, and host computer software, then realize the remote monitoring and control of the elevator group. Practice has proved the feasibility, effectiveness and reliability of the design of the monitoring terminal.

scholarly journals Dynamic analysis of two-link flexible manipulator considering the link length ratio and the payload

2017 ◽  
Vol 39 (4) ◽  
pp. 303-313
Author(s):  
Duong Xuan Bien ◽  
Chu Anh My ◽  
Phan Bui Khoi
Keyword(s):  
Mechanical Design ◽  
Flexible Manipulator ◽  
Length Ratio ◽  
Elastic Displacement ◽  
Design Parameters ◽  
Nonlinear Dynamic Model ◽  
Link Length ◽  
Modeling And Analysis ◽  
Robot Systems ◽  
And Control

Dynamic modeling and analysis of flexible manipulators play an essential role in optimizing mechanical design parameters and control law of real robot systems. In this paper, a nonlinear dynamic model of a manipulator is formulated based on the Finite Element Method. To analyze the dynamic behavior effectively, a numerical simulation scheme is proposed by taking full advantages of MATLAB and SIMULINK toolboxes. In this manner, the effect of varying payload and link length ratio of the manipulator to its elastic displacement is dynamically taken into account. The simulation results show that the payload and length link ratio have significant influences on the elastic displacements of the system. In particular, a proper spectrum of the link length ratio, in which the flexural displacement of the end point of the manipulator is smallest, is demonstrated. To this end, the proposed methodology could be used further to select optimal geometric parameters for the links of new robot designs.

scholarly journals Design and Analysis of a Bulge Test Device

2021 ◽  
Vol 41 (3) ◽  
pp. e85756
Author(s):  
Luis Humberto Martínez Palmeth ◽  
María Angelica Gonzalez Carmona ◽  
José Miranda Castro
Keyword(s):  
Mechanical Design ◽  
Plate Theory ◽  
Biaxial Stress ◽  
Analytical Models ◽  
Bulge Test ◽  
Plastic Behavior ◽  
Test Device ◽  
Biaxial Stress State ◽  
The One ◽  
Main Components

The aim of this work is to present the methodological process to design a device capable of performing Bulge tests. This kind of device allows obtaining more information about the plastic behavior of a material than the one provided by a traditional tensile test. The engineering specifications of the device were evaluated through the QFD methodology. Then, a basic design of the device was performed based on available analytical models such as thick-walled pressure vessel theory, annular plate theory, and a basic plasticity model for the biaxial stress state. Later, a detailed design of the device was proposed, which was evaluated by means of a 3D model of finite elements and a linearstatic analysis for the main components. Finally, a 2D axisymmetric model and a dynamic non-linear analysis were performed to validate the proposed design. The main novelty of the work consists of articulating the methodology of the mechanical design process and the conception, design, and validation of a Bulge device while solving the deficiencies found in the literature regarding the design and validation processes of this type of devices.

scholarly journals Multi-terrain Quadrupedal-wheeled Robot Mechanism: Design, Modeling, and Analysis

2020 ◽  
Vol 5 (12) ◽  
pp. 24-33
Author(s):  
Eric Gratton ◽  
Mbadiwe Benyeogor ◽  
Kosisochukwu Nnoli ◽  
Oladayo Olakanmi ◽  
Liam Wolf ◽  
...  
Keyword(s):  
Structural Integrity ◽  
Mechanical Design ◽  
Element Analysis ◽  
Active Suspensions ◽  
Modeling And Analysis ◽  
Drive Mechanism ◽  
Wheel Drive ◽  
Wheeled Robot ◽  
Mathematical Equations ◽  
And Control

For a robot to navigate in terrains of rough and uneven topographies, its drives and controllers must generate and control large mechanical power with great precision. This paper is aimed at developing an autonomous robot with active-suspensions in form of a hybrid quadrupedal-wheel drive mechanism. This involves a computational approach to optimizing the development cost without compromising the system’s performance. Using the Solidworks CAD tool, auxiliary components were designed and integrated with the bed structure to form an actively suspended robot drive mechanism. Also, using the S-Math Computing tool, the robot’s suspension system was optimized, employing a four-bar mechanism. To enhance the compatibility of this design with the intended controller, some mathematical equations and numerical validations were formulated and solved. These included the modeling of tip-over stability and skid steering, the trendline equations for computing the angular positions of the suspension servomotors, and the computation of R2– values for determining the accuracy of these trendline equations. Using finite element analysis (FEA), we simulated the structural integrity of key sub-components of the final structure. The results show that our mechanical design is appropriate for developing an actively suspended robot that can efficiently navigate in different terrestrial sites and topographies.

Introduction to Pre-Robotics: Exploring a Novel Approach for Teaching Mechanical Design

2010 ◽  
Author(s):  
Shahram Payandeh
Keyword(s):  
Mechanical Design ◽  
Engineering Science ◽  
Science Program ◽  
Mechanical Device ◽  
Design Synthesis ◽  
The Past ◽  
Novel Approach ◽  
Design Alternatives ◽  
Technical Specifications ◽  
Main Components

Educating young engineers in the field of design has always been a challenging task. In particular, teaching some of the aspects of robotics and mechanisms design in a non-mechanical curriculum by far introduces additional challenges. This paper presents an overview of a teaching approach and pedagogical challenges of the author for the past 18 years in teaching (or creating a learning objectives) of the basics of mechanical design methodologies and experiences to sophomore students enrolled in the Engineering Science program. One of the main components of the course syllabus is the notion of design synthesis of a pre-robotic mechanical device. First, the functionality of this device is shown to the students. Next, the students need to propose various design alternatives with mechanical and technical specifications. This paper outlines the method of how the students are guided through the design experience while exploring the basic steps of the design process and specifications.

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