Structural synthesis and classification of planar and spatial mechanisms of parallel-cross structure

In the oil and gas industry, coiled tubing units are increasingly being used both for the repair and maintenance of existing wells and for drilling new ones. At the same time, accurate positioning of the flexible pipe feeding mechanism above the wellhead requires quite a lot of time and labor; during operation of the installation, positioning is disrupted, which leads to a displacement of the longitudinal axis of the flexible pipe relative to the well axis, causing bending of the pipe, reducing its service life, and in some cases and breakage of a flexible pipe. The purpose of this work is to analyze the possibility of using a parallel-cross structure mechanism as an intermediate link between the flexible pipe feed mechanism and the prefabricated mast, to improve the positioning accuracy of the feed mechanism when installed above the wellhead and adjust its position during operation without stopping the technological process. The classification of flat and spatial mechanisms of parallel-cross structure with different number of drive kinematic chains is considered, the influence of the number of imposed connections on the degree of mobility of mechanisms is analyzed — due to the presence of one or more cross kinematic chains, their location between adjacent or opposite drive kinematic chains, as well as the method of connecting cross kinematic chains to drive kinematic chains. The mechanisms obtained in the course of synthesis and presented in the classification will allow to expand the scope of industrial application of these devices.
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