Rigid-hyperelastic Coupling Dynamic Model and Dynamic Characteristics of Spring type of Traction Robot

The traditional anchoring mechanism of the traction robot is rigid, which easy to be stuck in wellbore. In order solve problem produced by rigid robot, a novel was proposed based on spring type inclined block. key make motion whether can anchored wellbore under action force. Therefore, rigid-hyperelastic coupling dynamic model force established. On basis, effects span, width, thickness and chamfer parameters performance were analyzed. Through experimental comparison, it found that error between theoretical supporting only 6.1%, maximum 4.9%. Experiments verified correctness model. research results this paper lay foundation for structural design engineering application robot. It effectively ensure downhole safety oil gas wells.