Core-drilling kinematic modeling and analysis of Jiaolong submersible manipulator

The complicated topographies of the deep sea pose significant challenges for the core drilling with the Jiaolong submersible manipulator. To address this problem, we proposed a core-drilling kinematic model and evaluated the core-drilling behavior of the submersible manipulator by comprehensively co...

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Bibliographic Details
Published in:Journal of Zhejiang University. A. Science 2023-11, Vol.24 (11), p.937-948
Main Authors: Yang, Xu, Liu, Xin, Li, Shizhen, Ren, Yugang, Zhu, Limin
Format: Article
Language:English
Subjects:
Civil Engineering
Classical and Continuum Physics
Core drilling
Coring
Deep sea
Deepwater drilling
Drilling
Engineering
Gravity
Industrial Chemistry/Chemical Engineering
Kinematic equations
Kinematics
Mathematical models
Mechanical Engineering
Redundancy
Research Article
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Summary:The complicated topographies of the deep sea pose significant challenges for the core drilling with the Jiaolong submersible manipulator. To address this problem, we proposed a core-drilling kinematic model and evaluated the core-drilling behavior of the submersible manipulator by comprehensively considering the uncertain posture of the Jiaolong submersible. First, we established a forward kinematic model for the core-drilling task in deep sea, which satisfied the requirement of gravitational-direction core drilling. Based on the forward kinematic equations, we then built a double-redundancy inverse kinematic model, which was able to determine the required motion trajectories of six active joints according to the desired core-drilling trajectory. The core-drilling workspaces and the motions of the Jiaolong submersible manipulator were assessed with several calculation examples. The established forward and inverse kinematic models are constructed with clear analytic equations, and thus are directly applicable to the Jiaolong submersible manipulator-based core-drilling task.
ISSN:1673-565X
1862-1775
DOI:10.1631/jzus.A2200484