Neutron Source Installation Operation with 7-DOF Manipulator Based on Active Compliance Control

During oil drilling operation, neutron source is widely applied for well logging purposes. The installation and uninstallation operation of neutron source to/from petroleum equipment is processed manually at current, which leads to the risk of occupational diseases for operators. This paper presents an automatic neutron source installation operation with a 7-DOF (degree of freedom) manipulator. A 1-DOF ending tool design is proposed to accomplish all required procedure. An implementation scheme of the whole installation operation is developed based on actual operation requirements. A control method based on active compliance control theory is presented and applied in the installation operation aiming to make sure operation executed smoothly and safely. To ensure safety of staff related to experiments, all experiments are executed with neutron source simulator, which is manufactured according to dimensions of real neutron source but with no radiations. Experimental results show that the neutron source installation operation proposed by this paper can replace traditional manual installation operation.

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