Downhole robotic arm

Abstract

An apparatus for manipulating an object in a borehole in an earthen formation includes a body configured to be conveyed along the borehole and a plurality of linear actuators disposed in the body and operatively connected to the object. The plurality of linear actuators applies a translational and rotational movement to the object. A related method includes applying a translational and rotational movement to the object using the plurality of linear actuators.

What is claimed is: 
     
         1 . An apparatus for manipulating an object in a borehole in an earthen formation, comprising:
 a body configured to be conveyed along the borehole; and   a plurality of linear actuators disposed in the body and operatively connected to the object, the plurality of linear actuators applying a translational and rotational movement to the object.   
     
     
         2 . The apparatus of  claim 1 , wherein the plurality of linear actuators includes a first and a second linear actuator, the first and the second linear actuator each having a first end operatively connected to the object, and a second end operatively connected to the body, at least one of the first and second linear actuators operatively connected to the body including a joint allowing relative rotational movement. 
     
     
         3 . The apparatus of  claim 1 , wherein the plurality of linear actuators includes a first and a second actuator, the first linear actuator having an end operatively connected to the body, the second linear actuator having a first end operatively connected to the first linear actuator and a second end operatively connected to the body. 
     
     
         4 . The apparatus of  claim 1 , further comprising at least one fluid channel through the body, the at least one fluid channel conveying a fluid during borehole operation. 
     
     
         5 . The apparatus of  claim 1 , further comprising at least one sensor associated with the plurality of linear actuators or the object, the at least one sensor measuring a movement of at least one of the plurality of linear actuators or measuring data on the condition of the object. 
     
     
         6 . The apparatus of  claim 1 , wherein the object comprises one of: (i) a coring container, and (ii) a fluid sampling container. 
     
     
         7 . The apparatus of  claim 1 , further comprising a driveshaft, wherein the driveshaft is selected from one of: (i) a flexible driveshaft, (ii) a rigid driveshaft, and (iii) a cardan shaft. 
     
     
         8 . The apparatus of  claim 1 , further comprising: a drill string on which the plurality of linear actuators are positioned; and the object comprising a coring bit, the coring bit being configured to extend laterally from the drill string and contact an adjacent borehole wall, and wherein the plurality of linear actuators are configured to: (i) translate the object along an axis parallel with an longitudinal axis of the drill string, (ii) translate the object along an axis transverse to the longitudinal axis of the drill string, and (iii) rotate the object. 
     
     
         9 . A method for manipulating an object in a borehole in an earthen formation, comprising:
 disposing a plurality of linear actuators in a body;   operatively connecting the object to the plurality of linear actuators;   conveying the body into the borehole; and   applying a translational and rotational movement to the object using the plurality of linear actuators.   
     
     
         10 . The method of  claim 9 , wherein the plurality of linear actuators includes a first and a second linear actuator, the first and the second linear actuator each having a first end operatively connected to the object, and a second end operatively connected to the body, and further comprising rotatably connecting at least one of the first and second linear actuators to the body to allow relative rotational movement. 
     
     
         11 . The method of  claim 9 , wherein the plurality of linear actuators includes a first and a second actuator, the first linear actuator having an end operatively connected to the body, the second linear actuator having a first end operatively connected to the first linear actuator and a second end operatively connected to the body. 
     
     
         12 . The method of  claim 9 , wherein the object comprises one of: (i) a coring container, and (ii) a fluid sampling container. 
     
     
         13 . The method of  claim 9 , further comprising manipulating the object using a driveshaft, wherein the driveshaft is selected from one of: (i) a flexible driveshaft, (ii) a rigid driveshaft, and (iii) a cardan shaft. 
     
     
         14 . The method of  claim 9 , further comprising measuring data with at least one sensor associated with at least one of: (i) the plurality of linear actuators, and (ii) the object, the at least one sensor measuring at least one of: (i) a movement of at least one of the plurality of linear actuators, and (ii) data relating to the condition of the object. 
     
     
         15 . The method of  claim 9 , wherein the plurality of linear actuators are configured to: (i) translate the object along an axis parallel with an longitudinal axis of the drill string, (ii) translate the object along an axis transverse to the longitudinal axis of the drill string, and (iii) rotate the object, and further comprising:
 manipulating the object using a drill string on which the plurality of linear actuators are positioned;   extending the object laterally from the drill string, wherein the object comprises a coring bit; and   contacting an adjacent borehole wall with the coring bit.