DOWNHOLE KINEMATIC SYSTEM AND METHOD

Description

BACKGROUND

This disclosure relates to systems and methods for a downhole kinematic system used in wellbores.

This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the present techniques, which are described and/or claimed below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Accordingly, it should be understood that these statements are to be read in this light, and not as an admission of any kind.

During the process of extracting hydrocarbons from drilled wells, measurements of one or more characteristics of a well fluid may be obtained using a kinematic system. One method of using a kinematic system to obtain well fluid measurements involves extending a kinematic assembly from a tool string into a wellbore. However, the process of extending the kinematic assembly from the tool string is difficult to perform due to one more kinetic and/or kinematic constraints of the kinematic assembly.

SUMMARY

A summary of certain embodiments disclosed herein is set forth below. It should be understood that these aspects are presented merely to provide the reader with a brief summary of these certain embodiments and that these aspects are not intended to limit the scope of this disclosure. Indeed, this disclosure may encompass a variety of aspects that may not be set forth below.

In an embodiment, 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.

In another embodiment, a system includes a tool string, a kinematic assembly, a pulley assembly, and a controller. 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 controller includes a memory and a processor. The controller controls 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. The controller also controls the actuation assembly to at least partially extend the kinematic assembly from the tool string.

In another embodiment, a method includes lowering a tool string into wellbore of a well. The method also includes 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. The method also includes receiving measurements from one or more sensors disposed on the kinematic assembly. The method also includes controlling the actuator to at least partially retract the kinematic assembly into the tool string in response to the actuator pulling the cable.

Various refinements of the features noted above may be undertaken in relation to various aspects of the present disclosure. Further features may also be incorporated in these various aspects as well. These refinements and additional features may exist individually or in any combination. For instance, various features discussed below in relation to one or more of the illustrated embodiments may be incorporated into any of the above-described aspects of the present disclosure alone or in any combination. The brief summary presented above is intended to familiarize the reader with certain aspects and contexts of embodiments of the present disclosure without limitation to the claimed subject matter.

BRIEF DESCRIPTION OF THE DRAWINGS

Various aspects of this disclosure may be better understood upon reading the following detailed description and upon reference to the drawings in which:

FIG. 1 is a schematic diagram of a well system having a downhole kinematic system, in accordance with an embodiment of the present disclosure;

FIG. 2 is a flowchart of an example process of operating the downhole kinematic system of FIG. 1, in accordance with an embodiment of the present disclosure;

FIG. 3 is a schematic view of the downhole kinematic system of FIG. 1, in accordance with an embodiment of the present disclosure; and

FIG. 4 is a series of schematic side cross-sectional views of the downhole kinematic system of FIG. 1, in accordance with an embodiment of the present disclosure.

DETAILED DESCRIPTION

Certain embodiments commensurate in scope with the present disclosure are summarized below. These embodiments are not intended to limit the scope of the disclosure, but rather these embodiments are intended only to provide a brief summary of certain disclosed embodiments. Indeed, the present disclosure may encompass a variety of forms that may be similar to or different from the embodiments set forth below.

As used herein, the term “coupled” or “coupled to” may indicate establishing either a direct or indirect connection (e.g., where the connection may not include or include intermediate or intervening components between those coupled), and is not limited to either unless expressly referenced as such. The term “set” may refer to one or more items. Wherever possible, like or identical reference numerals are used in the figures to identify common or the same elements. The figures are not necessarily to scale and certain features and certain views of the figures may be shown exaggerated in scale for purposes of clarification.

Furthermore, when introducing elements of various embodiments of the present disclosure, the articles “a,” “an,” and “the” are intended to mean that there are one or more of the elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements. Additionally, it should be understood that references to “one embodiment,” “an embodiment,” or “some embodiments” of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features. Furthermore, the phrase A “based on” B is intended to mean that A is at least partially based on B. Moreover, unless expressly stated otherwise, the term “or” is intended to be inclusive (e.g., logical OR) and not exclusive (e.g., logical XOR). In other words, the phrase A “or” B is intended to mean A, B, or both A and B.

Embodiments of the present disclosure relate to systems and methods for a downhole kinematic system lowered into wellbores for one or more measurements in from within the wellbore. For example, the downhole kinematic system may take one or more measurements associated with the well fluid. The disclosed embodiments include a kinematic assembly that at least partially extends from and/or retracts into a tool string. The kinematic assembly includes a first link rotably coupled to the tool string and a second link rotably coupled to the tool string. The downhole kinematic system also includes a pulley assembly that includes a pulley and a cable reeved about the pulley. A first end of the cable is coupled to the kinematic assembly and a second end of the cable is coupled to an actuation assembly. In response to a controller controlling an actuator of the actuation assembly to pull on the cable, the cable pulls on the kinematic assembly to at least partially retract the kinematic assembly into the tool string.

With the foregoing in mind, FIG. 1 is a schematic diagram of a well system 10 having a downhole kinematic system 12 (e.g., downhole kinematic mechanical system, downhole kinematic linkage system, downhole kinematic caliper system, etc.). The well system 10 may be used to convey a tool string 13 of the downhole kinematic system 12 and a kinematic assembly 14 (e.g., downhole kinematic mechanical assembly, downhole kinematic linkage assembly, downhole kinematic caliper assembly, etc.) of the downhole kinematic system 12 through a geological formation 15 via a wellbore 16. In certain embodiments, a casing 18 may be disposed within the wellbore 16, such that the tool string 13 and the kinematic assembly 14 may traverse the wellbore 16 within the casing 18. As described in further detail herein, the kinematic assembly 14 may be used to make one or more measurements within the wellbore 16. The tool string 13 and the kinematic assembly 14 may be conveyed on a conveyance cable 20 via a conveyance cable spooling system 22. Although the conveyance cable spooling system 22 is schematically shown in FIG. 1 as a mobile cable spooling system carried by a truck, the conveyance cable spooling system 22 may instead be substantially fixed (e.g., a long-term installation that is substantially permanent or modular). Any conveyance cable 20 suitable for conveying the tool string 13 and the kinematic assembly 14 may be used. The conveyance cable 20 may be spooled and unspooled on a spool 24 and an auxiliary power source 26 may provide energy to the conveyance cable spooling system 22, the tool string 13, and/or the kinematic assembly 14.

In certain embodiments, the downhole kinematic system 12 may include a controller 28 via any suitable telemetry (e.g., via electrical or optical signals pulsed through the conveyance cable 20, or through the geological formation 15 or via mud pulse telemetry). The controller 28 may be any electronic data processing system that can be used to carry out the functionality described herein. For example, the controller 28 may include one or more processors 30, which may execute instructions 32 stored in memory 34 via circuitry 36. As such, the memory 34 of the controller 28 may be any suitable article of manufacture that can store the instructions 32. The memory 34 may be ROM memory, random-access memory (RAM), flash memory, an optical storage medium, or a hard disk drive, to name a few examples.

FIG. 2 is a flowchart of an example process 60 of operating the downhole kinematic system of FIG. 1. The process 60 may be performed by the controller 28 of FIG. 1. Additionally or alternatively, the process 60 may be performed any other suitable computing device(s) or controller(s). Furthermore, the blocks of the process 60 may be performed in the order disclosed herein or in any other suitable order. For example, certain blocks of the process 60 may be performed concurrently. In addition, in certain embodiments, at least one of the blocks of the process 60 may be omitted.

In block 62 of the process 60, the tool string is lowered into the wellbore of the well. As discussed herein, the tool string may be lowered via a conveyance cable suitable for conveying the tool string and the kinematic assembly through the wellbore. The conveyance cable may be spooled or unspooled. Additionally or alternatively, the conveyance cable may include electrical, pneumatic, and/or fluid connections.

In block 64 of the process 60, a controller controls an actuator to at least partially extend the kinematic assembly from the tool string via a cable coupled to the actuator and the kinematic assembly. The actuator may be disposed in the tool string or, in certain embodiments, at a location outside of the wellbore (e.g., near the conveyance cable spooling system). The cable may be directly coupled to the actuator such that the actuator directly moves the cable. In certain embodiments, the cable may be indirectly coupled to the actuator. For example, the cable may be directly coupled to one or more components that are moved by the actuator. As discussed herein, a first end of the cable may be coupled to the actuator and a second end of the cable may be coupled to the kinematic assembly. In certain embodiments, the cable is a wire rope (e.g., steel wire rope). In certain embodiments, the kinematic assembly may be extended from the tool string until the kinematic assembly contacts the wellbore.

In block 66 of the process 60, the controller receives one or more measurements from one or more sensors disposed on the kinematic assembly. In certain embodiments, the one or more measurements may include a capacitance of fluid disposed in the wellbore, a flow rate of the fluid, a temperature of the fluid, a pressure of the fluid, or a combination thereof. In certain embodiments, the measurements are sent to a memory disposed in the tool string. Additionally or alternatively, the measurements may be transmitted via the conveyance cable (e.g., electrical wires) to a controller disposed near an entrance to the wellbore (e.g., at the well site).

In block 68 of the process 60, the controller controls the actuator to at least partially retract the kinematic assembly into the tool string in response to the actuator pulling the cable. In certain embodiments, the actuator may pull the cable a preset distance to at least partially retract the kinematic assembly into the tool string. In certain embodiments, the actuator may cease pulling on the cable in response to a sensor providing a signal indicating that the kinematic assembly is retracted into the tool string. In certain embodiments, the kinematic assembly may retract into a recess (e.g., channel) formed into a housing (e.g., outer wall) of the tool string.

In certain embodiments, the process 60 may additionally include translating a slack portion of the cable into the tool string in response to a force exerted on the kinematic assembly toward the tool string. That is, in response to the kinematic assembly being squeezed toward the tool string (e.g., due to a narrowing of the wellbore), a distance between a coupling location of the cable to the kinematic assembly and the tool string decrease, causing a slack portion of the cable to translate into the tool string. In certain embodiments, a spring may be coupled to the cable, causing the slack portion to be pulled into the tool string.

In certain embodiments, the process 60 may additionally include controlling the actuator to translate a locking nut across the slack portion of the cable. That is, the actuator may cause a locking nut to slide across the slack portion of the cable such that the slack portion is reduced. As discussed herein, by reducing the slack portion of the cable, the kinematic assembly may be blocked from extending from the tool string in response to an increase in a width of the wellbore.

FIG. 3 is a schematic view of the downhole kinematic system 12 of FIG. 1. The kinematic system 12 may be described in terms of a longitudinal direction or axis 84, a radial direction or axis 86, and a circumferential direction or axis 88. In the illustrated embodiment, the downhole kinematic system 12 includes the tool string 13, the kinematic assembly 14, a pulley assembly 90, an actuation assembly 92, and the controller 28. In the illustrated embodiment, the controller 28 includes the one or more processors 30, which execute the instructions 32 stored in the memory 34 via the circuitry 36. As shown, the controller 28 is communicatively coupled with the actuation assembly 92. As shown, the actuation assembly 92 is disposed in the tool string 13 proximate to the kinematic assembly 14. As shown, the actuation assembly 92 is disposed above the kinematic assembly 14 in the tool string 13. In certain embodiments, the actuation assembly 92 may be disposed below the kinematic assembly 14 in the tool string 13.

In the illustrated embodiment, the kinematic assembly 14 includes a first link 94 (e.g., arm, post, etc.), a second link 96, and a third link 98 (e.g., pad). The first link 94 includes a first end portion 100 and a second end portion 102, the second link 96 includes a third end portion 103 (e.g., first end portion) and a fourth end portion 104 (e.g., second end portion), and the third link 98 includes a fifth end portion 106 (e.g., first end portion) and a sixth end portion 108 (e.g., second end portion). As shown, the first end portion 100 of the first link 94 is rotably coupled to the tool string 13 via a pivot 110, and the third end portion 103 of the second link 96 is also rotably coupled to the tool string 13 via a pivot 112. In the illustrated embodiment, the first link 94 rotates in the circumferential direction 88 relative to the tool string 13 when retracting into the tool string, and the second link 96 rotates in a circumferential direction 114 relative to the tool string 13 when retracting into the tool string 13. That is, the direction of rotation of the first link 94 relative to the tool string 13 is opposite of the direction of rotation of the second link 96 relative to the tool string 13. In certain embodiments, the direction of the rotation of the first link 94 relative to the tool string 13 may be the same as the direction of rotation of the section link 96 relative to the tool string 13. In the illustrated embodiment, the tool string 13 includes springs 115 (e.g., springs 117 and 119) that press against the first link 94 and the second link 96 to cause the first link 94 and the second link 96 to extend from the tool string 13. That is, without intervention from the pulley assembly 90 as discussed in further detail herein, the first link 94 and the second link 96 extend (e.g., protrude) from the tool string 13 due to the force exerted on them by the springs 115.

In the illustrated embodiment, the fifth end portion 106 of the third link 98 is rotably and slidably coupled to the second end portion 102 of the first link 94 via a first pin 116 coupled to the first link 94 sliding and rotating within a first slot 118 formed into the third link 98. Additionally or alternatively, the sixth end portion 108 of the third link 98 is rotably and slidably coupled to the fourth end portion 104 of the second link 96 via a second pin 120 coupled to the second link 96 sliding and rotating with a second slot 122 formed into the third link 98. In certain embodiments, the first link 94 is not slidably coupled to the third link 98, the second link 96 is not slidably coupled to the third link 98, or a combination thereof.

In the illustrated embodiment, the pulley assembly 90 includes one or more pulleys 124 (e.g., first pulley 126, second pulley 128, third pulley 130) coupled to the tool string 13 and one or more cables 132 (e.g., first cable 134, second cable 136, third cable 138) at least partially reeved (e.g., wrapped, wound, etc.) about the one or more pulleys 124. In certain embodiments, the first cable 134 is reeved about the first pulley 126, a first end 140 of the first cable 134 is coupled to the kinematic assembly 14, and a second end 142 of the first cable 134 is coupled to a rod 144 of the actuation assembly 92. The controller 28 controls the actuation assembly 92 to at least partially retract the kinematic assembly 14 into the tool string 13 in response to the actuation assembly 92 pulling the first cable 134. That is, the kinematic assembly 14 may retract within an outer housing 146 of the tool string 13 in response to the actuation assembly 92 pulling the first cable 134. Additionally or alternatively, the controller 28 may control the actuation assembly 92 to at least partially extend the kinematic assembly 14 from the tool string 13 in response to the actuation assembly 92 releasing a portion of the first cable 134. As described herein, the springs 115 exert a force against the first link 94 and the second link 96, such that the first link 94 and the second link 96 extend from the tool string 13 as the first cable 134 is released via the actuation assembly 92.

In certain embodiments, the first end 138 of the first cable 134 is coupled to a first coupling location 148 (e.g., first location) on the first link 94. As shown, the first pulley 126 is disposed on the tool string 13 beneath the first link 94. In certain embodiments, the first coupling location 148 is positioned along a first length 150 of the first link 94 at a first distance 152 from a first distal end 154 of the first link 94. In certain embodiments, the first distance 152 is between one fourth the first length 150 and three fourths the first length 150 of the first link 94.

Additionally or alternatively, the pulley assembly 90 may include the second pulley 128 and the second cable 136, wherein a portion of the second cable 136 is reeved (e.g., wound, wrapped) about at least a portion of the second pulley 128. As shown, a third end 156 of the second cable 136 is coupled to the rod 144 of the actuation assembly 92 and a fourth end 158 of the second cable 136 is coupled to the second link 96 at a second coupling location 160. As shown, the second pulley 128 is disposed on the tool string 13 beneath the second link 96 in the radial direction 161. In certain embodiments, the second coupling location 160 is positioned along a second length 162 of the second link 96 at a second distance 164 from a second distal end 166 of the second link 96. In certain embodiments, the second distance 166 is between one fourth the second length 162 and three fourths the second length 162 of the second link 96. The actuation assembly 92 may simultaneously pull the first cable 134 and the second cable 136, thereby causing the first cable 134 to pull on first link 94 and the second cable 136 to concurrently pull on the second link 96. In certain embodiments, the third pulley 130 and the third cable 138 may be omitted.

Additionally or alternatively, the pulley assembly may include the third pulley 130 and the third cable 138, wherein a portion of the third cable 138 is reeved (e.g., wound, wrapped) about at least a portion of the third pulley 130. As shown, a fifth end 168 of the third cable 138 is coupled to the rod 144 of the actuation assembly 92 and a sixth end 170 of the third cable 138 is coupled to the third link 98 at a third coupling location 172. As shown, the third pulley 130 is disposed on the tool string 13 beneath the third link 98 in the radial direction 161. In certain embodiments, the third coupling location 172 is positioned along a third length 174 of the third link 98 at a third distance 176 from a third distal end 178 of the third link 98. In certain embodiments, the third distance 176 is between one fourth the third length 174 and three fourths the third length 174 of the third link 98. In certain embodiments, the first pulley 126 and the first cable 134 and/or the second pulley 128 and the second cable 136 may be omitted.

In the illustrated embodiment, the actuation assembly 92 includes an actuator 180 (e.g., rotary actuator), a lead screw 182 coupled to the actuator 180, a nut 184 threaded onto the lead screw 182, the rod 144 slidably coupled to the nut 184, a tensioning spring 186 coupled to a stopper 188 of the rod 144, a sensor 185, or a combination thereof. As shown, a first end 190 of the rod 144 is coupled to the second end 142 of the first cable 134, the third end 156 of the second cable 136, and/or the fifth end 168 of the third cable 138. The rod 144 is coupled to a second end 192 of the rod 144.

The controller 28 controls the actuator 180 to turn the lead screw 182. In response to the actuator 180 rotating the lead screw 182, the nut 184 translates along an axial direction of the lead screw 182. As shown, the rod 144 is slidably coupled to the nut 184. In response to the nut 184 abutting the stopper 188 of the rod 144, the nut 184 pushes (e.g., drives) the rod 144 in the direction 194 (e.g., opposite the longitudinal direction 84), thereby pulling the one or more cables 132 to at least partially retract the kinematic assembly 14 into the tool string 13. Additionally or alternatively, the controller 28 may control the actuator 180 to rotate the lead screw 182 to cause the nut 184 to translate in the longitudinal direction 84 or the direction 194. In response to the nut 184 moving in the longitudinal direction 84, the rod 144 will move in the longitudinal direction 84 along with the nut 184, thereby causing the springs 115 to at least partially extend the kinematic assembly 14 out of the outer housing 146 of the tool string 13.

FIG. 4 is a series of schematic side cross-sectional views of the downhole kinematic system 12 of FIG. 1. In view 210, the nut 184 is in a retracted position 222, such that a majority of the rod 144 is disposed within an actuation assembly housing 223 of the tool string 13. As shown, the rod 144 slides through a seal 224 disposed within a partition 226 (e.g., wall) separating the actuation assembly 92 from the kinematic assembly 14. It may be appreciated that the seal 224 may block fluids (e.g., sea water, oil, etc.) from entering the actuation assembly 92 from the wellbore 16. As shown, the first end 140 of the first cable 134 is coupled to the kinematic assembly 14, and the second end 142 of the first cable 134 is coupled to the rod 144 of the actuation assembly 92. It may be recognized that while these views illustrate the pulley assembly 90 as including the first cable 134, the pulley system 90 may additionally or alternatively include the second cable 136 and/or the third cable 138 and their respective pulleys, as shown in FIG. 3.

In view 212, the nut 184 is in an extended position 228, such that a lower portion 230 of the rod 144 is disposed within a kinematic assembly housing 232 of the tool string 13 and an upper portion 234 of the rod 144 is disposed within the actuation assembly housing 223. As shown, the springs 115 (e.g., leaf springs) exert forces on the first link 94 and the second link 96, at least partially causing the first link 94 and the second link 96 to extend out of the outer housing 146 of the tool string 13, due to the extension of the first cable 134.

In view 214, a diameter 236 of the wellbore 16 has narrowed, thereby causing the kinematic assembly 14 to at least partially retract into the tool string 13. As shown, the tensioning spring 186 pulls on the rod 144 (e.g., end portion of the first cable 134) in the direction 194 such that a slack portion of the first cable 134 is pulled into the tool string 13 in response to a force exerted on the kinematic assembly 14 toward the tool string 13. As shown, the nut 184 is no longer contacting the stopper 188, due to the rod 144 being pulled back by the tensioning spring 186. In certain embodiments, the controller may receive a signal from the sensor 185 (e.g., proximity sensor, force sensor, etc.) indicative of a level of contact (e.g., exerted force, load) between the nut 184 and the stopper 188 of the rod 144. In response to the level of contact between the nut and the stopper crossing a first threshold of contact (e.g., low threshold level of contact), the controller may determine the nut 184 to no longer be contacting the stopper 188.

In view 216, the nut 184 has translated in the direction 194 across the lead screw 182 such that the nut 184 is once again contacting the stopper 188. In certain embodiments, the controller may control the actuator 180 to cause the nut 184 (e.g., via the lead screw 182) to move toward the stopper 188 in response to the controller determining that the nut 184 is no longer contacting the stopper 188. The controller may once again receive a signal from the sensor 185 indicative of a level of contact (e.g., exerted force, load) between the nut 184 and the stopper 188 of the rod 144. In response to the level of contact between the nut and the stopper crossing a second threshold of contact (e.g., high threshold level of contact), the controller may determine the nut 184 to be contacting the stopper 188 and control the actuator 180 to stop moving the nut 184 toward the stopper 188.

In view 218, the controller has caused the nut 184 to move further in the direction 194, thereby pulling the rod 144 and the first cable 134. In the illustrated embodiment, in response to the rod 144 being moved in the direction 194, the first cable 134 retracts the kinematic assembly 14 into the outer housing 146 of the tool string 13. In certain embodiments, the kinematic assembly 14 is at least partially retracted into the outer housing 146 of the tool string 13.

Technical effects include removing axial translation of the first link and/or the second link relative to the tool string. Additional technical affects include using a pulley system to retract the kinematic assembly into the tool string, such that an actuator pulls on a cable reeved about a pulley of the pulley system. By using the actuator to pull a cable, as opposed to directly translating and/or rotating the first or second links, the force used by the actuator for retracting the kinematic assembly is reduced, thereby reducing power consumption associated with the actuator and reducing wear imparted on the actuator over time.

The subject matter described in detail above may be defined by one or more clauses, as set forth below.

According to a first aspect, 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.

The system of the preceding clause, wherein the first link rotates relative to the tool string in a first rotational direction when at least partially retracting into the tool string, the second link rotates relative to the tool string in a second rotation direction when at least partially retracting into the tool string, and the first rotational direction is opposite the second rotational direction.

The system of any preceding clause, wherein the kinematic assembly includes 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.

The system of any preceding clause, 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.

The system of any preceding clause, wherein the first end of the first cable is coupled to the third link.

The system of any preceding clause, wherein the first end of the first cable is coupled to the first link at a first location.

The system of any preceding clause, 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.

The system of any preceding clause, wherein the pulley assembly includes 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.

The system of any preceding clause, wherein the actuation assembly includes an actuator, a lead screw coupled to the actuator, a nut threaded onto the lead screw, a rod slidably coupled to the nut, a tensioning spring coupled to a stopper at a second end of the rod, or a combination thereof, wherein a first end of the rod is coupled to a second end of the first cable.

The system of any preceding clause, wherein the actuation assembly causes the nut to translate along the lead screw in response to the actuator rotating the lead screw, and causes the nut to pull the rod in response to the nut abutting the stopper.

The system of any preceding clause, including 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.

According to a second aspect, a system includes a tool string, a kinematic assembly, a pulley assembly, and a controller. 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 controller includes a memory and a processor. The controller controls 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. The controller also controls the actuation assembly to at least partially extend the kinematic assembly from the tool string.

The system of the preceding clause, wherein the actuation assembly includes 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.

The system of any preceding clause, wherein the controller controls the actuator to rotate the lead screw, wherein the nut translates along the lead screw in response to the actuator rotating the lead screw, and pulls the rod in response to abutting the stopper.

The system of any preceding clause, wherein the controller receives a signal from the sensor indicative of a level of contact between the nut and the stopper, determines 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, controls the actuator to cause the nut to move toward stopper in response to determining the nut to not be contacting the stopper, and determines 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.

The system of any preceding clause, wherein the kinematic assembly includes 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.

The system of any preceding clause, wherein the first end of the first cable is coupled to the first link at a first location.

The system of any preceding clause, wherein the pulley assembly includes 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.

According to a third aspect, a method includes lowering a tool string into wellbore of a well. The method also includes 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. The method also includes receiving measurements from one or more sensors disposed on the kinematic assembly. The method also includes controlling the actuator to at least partially retract the kinematic assembly into the tool string in response to the actuator pulling the cable.

The method of the preceding clause, including 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, and controlling the actuator to translate a locking nut to a stopper coupled to an end portion of the cable to remove the slack portion.

The foregoing description, for purpose of explanation, has been described with reference to specific embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the disclosure to the precise forms disclosed. Many modifications and variations are possible in view of the above teachings. Moreover, the order in which the elements of the methods described herein are illustrated and described may be re-arranged, and/or two or more elements may occur simultaneously. The embodiments were chosen and described in order to best explain the principals of the disclosure and its practical applications, to thereby enable others skilled in the art to best utilize the disclosure and various embodiments with various modifications as are suited to the particular use contemplated.

Finally, the techniques presented and claimed herein are referenced and applied to material objects and concrete examples of a practical nature that demonstrably improve the present technical field and, as such, are not abstract, intangible or purely theoretical.