Abstract: An example apparatus includes a rod, an uphole coupling through which the rod extends, an expansion ring positioned on the rod below the uphole coupling, an elastomer element positioned on the rod below the expansion ring, a receptacle positioned on the rod below the elastomer element and configured to receive a portion of the elastomer element, a guardian ring positioned on the rod below the receptacle, and a portion of the receptacle is received in the guardian ring, a cap positioned on the rod and arranged for contact with the guardian ring, and a barrel to which the cap is connected, wherein the rod is partially received in the barrel, and one of the barrel and the rod is movable with respect to the other of the barrel and the rod to exert a compression load on the elastomer element.

Abstract: In one example, a method includes running a downhole system into a downhole environment that comprises a wellbore, and the downhole system is configured such that a reusable plug of the downhole system is positioned uphole of a perforation gun of the downhole system, then, with the perforation gun, perforating a casing at a stage of the wellbore, and the perforating is performed using a projectile, and the perforating is performed by firing the projectile from a chamber of the perforation gun.

Abstract: A dispenser includes a body that defines a chamber and a barrel that communicate with each other, and a penetrator assembly configured to be received in the chamber. The penetrator assembly includes a penetrator, a propellant operably positioned with respect to the penetrator, a primer in operable communication with the propellant, and an electrical conductor configured and arranged to carry electrical power to the primer. The dispenser may be positioned in a downhole location such as a wellbore, and the penetrator assembly may be fired so that the penetrator perforates a casing in the wellbore.

Abstract: Underactuated robotic manipulators may include a plurality of links rotatably or rigidly coupled to one another at a plurality of joints. The links may include driven links that are driven to grasp an object to be held, driving links that are actuated by an actuator to drive movement of the driven links, and a plurality of connecting links that couple the driving links to the driven links. Such manipulators may include a plurality of driven links and associated touch points, and a plurality of independent degrees of freedom, and be driven by a single actuator, making them underactuated.

Abstract: The present disclosure generally relates to a robotic gripping system and method that utilizes vacuum suction and finger grasping, wherein the suction and grasping are actuated based on a dynamic collision model. In an exemplary embodiment, the present disclosure is directed to generating collision scenes of a surrounding environment which is used to determine possible collisions in a motion path, and which is used to selectively actuate the vacuum suction and/or finger grasping.

Abstract: A tool changer at a distal end of a robotic arm may include a proximal engagement plate and a tool may include a distal engagement plate magnetically engaged with the proximal engagement plate. The tool changer may be configured to magnetically engage and disengage with a variety of tools as different tools are needed for operations being performed by the robotic arm. Decisions regarding which tools to couple to the tool changer may be made on-the-fly and based on changing circumstances as the robotic arm is used to operate on objects.

Abstract: A robotic manipulator includes a first stage, a second stage, a third stage, and an actuator that actuates movement of the second stage with respect to the first stage. Movement of the second stage with respect to the first stage passively drives movement of the third stage with respect to the second stage. In some embodiments, the passive driving is achieved using one or more cables. In other embodiments, the passive driving is achieved using rack and pinion components. The robotic manipulator may further include additional stages, wherein movement of preceding stages passively drives movement of succeeding stages.

Abstract: Underactuated robotic manipulators may include a plurality of links rotatably or rigidly coupled to one another at a plurality of joints. The links may include driven links that are driven to grasp an object to be held, driving links that are actuated by an actuator to drive movement of the driven links, and a plurality of connecting links that couple the driving links to the driven links. Such manipulators may include a plurality of driven links and associated touch points, and a plurality of independent degrees of freedom, and be driven by a single actuator, making them underactuated.

Abstract: The present disclosure generally relates to a robotic gripping system and method that utilizes vacuum suction and finger grasping, wherein the suction and grasping are actuated based on a dynamic collision model. In an exemplary embodiment, the present disclosure is directed to generating collision scenes of a surrounding environment which is used to determine possible collisions in a motion path, and which is used to selectively actuate the vacuum suction and/or finger grasping.