Search

High-frequency torsional vibration percussive drilling is considered a promising approach to improve drilling performance in deep hard formations, so studying its rock breaking mechanism and effect is the essential and basic issue. Compared with percussive-rotary drilling and high-pressure jet drilling, it can increase the service life of drilling tools and reduce drilling cost significantly. In this paper, based on elastic mechanics and principles of mechanical vibration, the cutting mechanism model of PDC (polycrystalline diamond compact) drill bit cutter and the amplitude–frequency characteristic model of steady-state vibration response of rock system are established, as well as the response characteristics of the rock system are also pointed out. Based on elastic–plastic mechanics and rock mechanics, Drucker–Prager criterion is adopted as the constitutive equation of rock, and plastic strain is used as the criterion of rock failure. Moreover, the model of rock damage failure is also established. The effect of exciting frequency on ROP (rate of penetration) has been studied by carrying out rock breaking test using high-frequency torsional vibration percussive drilling of PDC drill bit along with analyzing and handling test data. The study results show that when torsional vibration percussive frequency is approximately equal to inherent frequency of the rock, rock resonates with cutter, the plastic strain and ROP reach maximum, and drilling efficiency is the highest. The research results can help to deepen the understanding of the percussive drilling with high-frequency torsion vibration and provide useful insight into the design, application, and optimization of this new type of downhole tools in drilling engineering. [ABSTRACT FROM AUTHOR]

The unique rigid-flex connection between the fin-rays and fin-surface in a bionic undulatory fin robot endows the fin-surface with both active flexibility and load-bearing capacity, enabling this robot to perform amphibious motions in underwater, terrestrial, and even marshy environments. However, investigations into dynamic modeling problems for the undulatory fin robot, considering the impact of nonlinear deformation and frictional contact on ground locomotion performance, are scarce. Given this, based on the absolute nodal coordinate formulation (ANCF), this paper presents an efficient and accurate nonlinear dynamic model for this robot to elucidate the fin's flexible deformation and motion law. This model considers material, geometric, and boundary nonlinearities, utilizing ANCF thin plate elements and reference nodes to individually describe the fin-surface and fin-rays of the undulatory fin. Then, by using the master-slave technique, a frictional contact formulation for the fin and the ground is proposed. Furthermore, we conduct in-depth research and analysis on the formation and undulatory motion of the undulatory fin, encompassing its static deformation, static contact deformation, and frictional contact motion, and successfully obtain its responses under various conditions. Research indicates that during fin-surface motion, longitudinal sliding or a tendency for sliding at the contact points results in the undulatory fin moving in a crawling gait. The proposed theoretical model correctly captures the fin's complex nonlinear deformations and frictional characteristics and reveals its ground locomotion mechanism, whose effectiveness and superiority are validated through numerical examples and experiments.