A Method of Drilling a Ground Using a Robotic Arm
Résumé
Underground tunnel face bolting and pipe umbrella reinforcement are one of the most challenging tasks in
construction whether industrial or not, and infrastructures such as roads or pipelines. It is one of the first sectors of economic
activity in the world. Through a variety of soil and rock, a cyclic Conventional Tunneling Method (CTM) remains the best one
for projects with highly variable ground conditions or shapes. CTM is the only alternative for the renovation of existing tunnels
and creating emergency exit. During the drilling process, a wide variety of non-desired vibrations may arise, and a method
using a robot arm is proposed. The main kinds of drilling through vibration here is the bit-bouncing phenomenon (resonant
axial vibration). Hence, assisting the task by a robot arm may play an important role on drilling performances and security. We
propose to control the axial-vibration phenomenon along the drillstring at a practical resonant frequency, and embed a
Resonant Sonic Drilling Head (RSDH) as a robot end effector for drilling. Many questionable industry drilling criteria and
stability are discussed in this paper.