Downhole kinematic system and method

Abstract

A system includes a tool string, a kinematic assembly, and a pulley assembly. The kinematic assembly includes a first link and a second link. A first end portion of the first link is rotably coupled to the tool string and a first end portion of the second link is rotably coupled to the tool string. The pulley assembly includes a first pulley coupled to the tool string, and a first cable at least partially reeved about the first pulley. A first end of the first cable is coupled to the kinematic assembly, and a second end of the first cable is coupled to an actuation assembly. The kinematic assembly at least partially retracts into the tool string in response to the actuation assembly pulling the first cable.

1 . A system, comprising:
 a tool string;   a kinematic assembly, comprising:
 a first link, wherein a first end portion of the first link is rotably coupled to the tool string; and 
 a second link, wherein a first end portion of the second link is rotably coupled to the tool string; and 
   a pulley assembly, comprising:
 a first pulley coupled to the tool string; and 
 a first cable at least partially reeved about the first pulley, wherein a first end of the first cable is coupled to the kinematic assembly, and a second end of the first cable is coupled to an actuation assembly; 
   wherein the kinematic assembly is configured to at least partially retract into the tool string in response to the actuation assembly pulling the first cable.   
     
     
         2 . The system of  claim 1 , wherein the first link, when retracting into the tool string, is configured to rotate relative to the tool string in a first rotational direction;
 wherein the second link, when retracting into the tool string, is configured to rotate relative to the tool string in a second rotation direction;   and the first rotational direction is opposite the second rotational direction.   
     
     
         3 . The system of  claim 1 , wherein the kinematic assembly comprises a third link, wherein a first end portion of the third link is rotably coupled to a second end portion of the first link, and a second end portion of the third link is rotably coupled to a second end portion of the second link. 
     
     
         4 . The system of  claim 3 , wherein the first end portion of the third link is slidably coupled to the second end portion of the first link, and the second end portion of the third link is slidably coupled to the second end portion of the second link. 
     
     
         5 . The system of  claim 3 , wherein the first end of the first cable is coupled to the third link. 
     
     
         6 . The system of  claim 1 , wherein the first end of the first cable is coupled to the first link at a first location. 
     
     
         7 . The system of  claim 6 , wherein the first location is positioned along a length of the first link between at a distance from a first distal end of the first link, wherein the distance is between one fourth the length of the first link and three fourths the length of the first link. 
     
     
         8 . The system of  claim 6 , wherein the pulley assembly comprises:
 a second pulley coupled to the tool string; and   a second cable at least partially reeved about the second pulley, wherein a first end of the second cable is coupled to the second link, and a second end of the second cable is coupled to the actuator.   
     
     
         9 . The system of  claim 1 , wherein the actuation assembly comprises:
 an actuator;   a lead screw coupled to the actuator;   a nut threaded onto the lead screw;   a rod slidably coupled to the nut, wherein a first end of the rod is coupled to a second end of the first cable;   a tensioning spring coupled to a stopper at a second end of the rod;   or a combination thereof.   
     
     
         10 . The system of  claim 9 , wherein the actuation assembly is configured to:
 cause the nut to translate along the lead screw in response to the actuator rotating the lead screw; and   cause the nut to pull the rod in response to the nut abutting the stopper.   
     
     
         11 . The system of  claim 1 , comprising at least one spring disposed in the tool string, wherein the at least one spring is configured to:
 extend the first link from the tool string;   extend the second link from the tool string; or   a combination thereof.   
     
     
         12 . A system, comprising:
 a tool string;   a kinematic assembly, comprising:
 a first link, wherein a first end portion of the first link is rotably coupled to the tool string; and 
 a second link, wherein a first end portion of the second link is rotably coupled to the tool string; 
   a pulley assembly, comprising:
 a first pulley coupled to the tool string; and 
 a first cable at least partially reeved about the first pulley, wherein a first end of the first cable is coupled to the kinematic assembly, and a second end of the first cable is coupled to an actuation assembly; and 
   a controller having a memory and a processor, wherein the controller is configured to:
 control the actuation assembly to at least partially retract the kinematic assembly into the tool string in response to the actuation assembly pulling the first cable; and 
 control the actuation assembly to at least partially extend the kinematic assembly from the tool string. 
   
     
     
         13 . The system of  claim 12 , wherein the actuation assembly comprises:
 an actuator;   a sensor;   a lead screw coupled to the actuator;   a nut threaded to the lead screw;   a rod slidably coupled to the nut, wherein a first end of the rod is coupled to a second end of the first cable;   a tensioning spring coupled to a stopper at a second end of the rod;   or a combination thereof.   
     
     
         14 . The system of  claim 13 , wherein the controller is configured to control the actuator to rotate the lead screw, wherein the nut is configured to:
 translate along the lead screw in response to the actuator rotating the lead screw; and   pull the rod in response to abutting the stopper.   
     
     
         15 . The system of  claim 13 , wherein the controller is configured to:
 receive a signal from the sensor indicative of a level of contact between the nut and the stopper;   determine the nut to not be contacting the stopper in response to the level of contact between the nut and the stopper crossing a first threshold level of contact;   control the actuator to cause the nut to move toward stopper in response to determining the nut to not be contacting the stopper; and   determine the nut to be contacting the stopper in response to the level of contact between the nut and the stopper crossing a second threshold level of contact.   
     
     
         16 . The system of  claim 12 , wherein the kinematic assembly comprises a third link, wherein a first end portion of the third link is rotably coupled to a second end portion of the first link, and a second end portion of the third link is rotably coupled to a second end portion of the second link. 
     
     
         17 . The system of  claim 12 , wherein the first end of the first cable is coupled to the first link at a first location. 
     
     
         18 . The system of  claim 17 , wherein the pulley assembly comprises:
 a second pulley coupled to the tool string; and   a second cable at least partially reeved about the second pulley, wherein a first end of the second cable is coupled to the second link, and a second end of the second cable is coupled to the actuator.   
     
     
         19 . A method, comprising:
 lowering a tool string into wellbore of a well   controlling an actuator to at least partially extend a kinematic assembly from the tool string via a cable coupled to the actuator and the kinematic assembly;   receiving measurements from one or more sensors disposed on the kinematic assembly; and   controlling the actuator to at least partially retract the kinematic assembly into the tool string in response to the actuator pulling the cable.   
     
     
         20 . The method of  claim 19 , comprising:
 pulling, via a tensioning spring coupled to an end portion of the cable, a slack portion of the cable into the tool string in response to a force exerted on the kinematic assembly toward the tool string;   controlling the actuator to translate a locking nut to a stopper coupled to an end portion of the cable to remove the slack portion.