A cable-driven parallel robot (CDPR) includes at least two sets of rotors each coupled to a respective one of at least two supports, the sets of the rotors positioned above a surface; an effector positioned at a horizontal planar location between the sets of the rotors and at a vertical location above the surface; and at least two sets of cables each coupled to a respective one of the sets of the rotors at first ends of the respective set of the cables and to the effector at second ends of the respective set of the cables. Each set of the sets of the rotors controls tension to the respective one set of the sets of the cables for moving the horizontal planar location. Each set of the sets of the rotors is vertically movable on the respective one of the supports for moving the vertical location when the sets of the rotors are vertically moved synchronously.

A cable-driven parallel robot (CDPR) includes at least two sets of rotors each coupled to a respective one of at least two supports, the sets of the rotors positioned above a surface; an effector positioned at a horizontal planar location between the sets of the rotors and at a vertical location above the surface; and at least two sets of cables each coupled to a respective one of the sets of the rotors at first ends of the respective set of the cables and to the effector at second ends of the respective set of the cables. Each set of the sets of the rotors controls tension to the respective one set of the sets of the cables for moving the horizontal planar location. Each set of the sets of the rotors is vertically movable on the respective one of the supports for moving the vertical location when the sets of the rotors are vertically moved synchronously.

Embodiments of a top-mounted hoisting system include a single-layer winch drum located at an uppermost end of a derrick or drilling mast, a drill string handling tool, and one or more drill lines extending from the single layer winch drum to the drill string handling tool. The drill string handling tool may be a top drive. When the drill line is connected directly to the lifted load, the drill line experiences far less load cycles than when the line runs through crown and travelling blocks. If the drum diameter is large enough, cut-and-slip operations may be eliminated, and the drill line may be replaced at longer time intervals. Embodiments provide for lower weight and may provide lower cost as a result. The top-mounted drum does not take up any space on the drill floor and less total length of drill line is also required than if the drum was floor-mounted.

Embodiments of a top-mounted hoisting system include a single-layer winch drum located at an uppermost end of a derrick or drilling mast, a drill string handling tool, and one or more drill lines extending from the single layer winch drum to the drill string handling tool. The drill string handling tool may be a top drive. When the drill line is connected directly to the lifted load, the drill line experiences far less load cycles than when the line runs through crown and travelling blocks. If the drum diameter is large enough, cut-and-slip operations may be eliminated, and the drill line may be replaced at longer time intervals. Embodiments provide for lower weight and may provide lower cost as a result. The top-mounted drum does not take up any space on the drill floor and less total length of drill line is also required than if the drum was floor-mounted.

Embodiments of a top-mounted hoisting system include a single-layer winch drum located at an uppermost end of a derrick or drilling mast, a drill string handling tool, and one or more drill lines extending from the single layer winch drum to the drill string handling tool. The drill string handling tool may be a top drive. When the drill line is connected directly to the lifted load, the drill line experiences far less load cycles than when the line runs through crown and traveling blocks. If the drum diameter is large enough, cut-and-slip operations may be eliminated, and the drill line may be replaced at longer time intervals. Embodiments provide for lower weight and may provide lower cost as a result. The top-mounted drum does not take up any space on the drill floor and less total length of drill line is also required than if the drum was floor-mounted.

Embodiments of a top-mounted hoisting system include a single-layer winch drum located at an uppermost end of a derrick or drilling mast, a drill string handling tool, and one or more drill lines extending from the single layer winch drum to the drill string handling tool. The drill string handling tool may be a top drive. When the drill line is connected directly to the lifted load, the drill line experiences far less load cycles than when the line runs through crown and traveling blocks. If the drum diameter is large enough, cut-and-slip operations may be eliminated, and the drill line may be replaced at longer time intervals. Embodiments provide for lower weight and may provide lower cost as a result. The top-mounted drum does not take up any space on the drill floor and less total length of drill line is also required than if the drum was floor-mounted.

A system includes a first transmission having a first planetary gearset, a first drive shaft, and a first annular sleeve. The first annular sleeve is positioned circumferentially about the first drive shaft, and the first annular sleeve is configured to move axially relative to the first drive shaft and the first planetary gearset from a first axial position in which the first annular sleeve engages a first sun gear of the first planetary gearset to a second axial position in which the first annular sleeve engages a first ring gear of the first planetary gearset to adjust a gear ratio of the first transmission.

A system includes a first transmission having a first planetary gearset, a first drive shaft, and a first annular sleeve. The first annular sleeve is positioned circumferentially about the first drive shaft, and the first annular sleeve is configured to move axially relative to the first drive shaft and the first planetary gearset from a first axial position in which the first annular sleeve engages a first sun gear of the first planetary gearset to a second axial position in which the first annular sleeve engages a first ring gear of the first planetary gearset to adjust a gear ratio of the first transmission.

A cable-driven parallel robot (CDPR) includes at least two sets of rotors each coupled to a respective one of at least two supports. The sets of the rotors are positioned above a surface, an effector is positioned at a horizontal planar location between the sets of the rotors and at a vertical location above the surface. At least two sets of cables each have cables coupled to a respective one of the sets of the rotors at first ends of the respective set of the cables and to an effector at second ends of the respective set of the cables. Each set of the sets of rotors is configured to control tension to the respective one set of the sets of cables for moving the horizontal planar location. Each set of the sets of rotors is vertically movable on the respective one of the supports for moving the vertical location when the sets of rotors are vertically moved, e.g., moved synchronously.

A cable-driven parallel robot (CDPR) includes at least two sets of rotors each coupled to a respective one of at least two supports. The sets of the rotors are positioned above a surface, an effector is positioned at a horizontal planar location between the sets of the rotors and at a vertical location above the surface. At least two sets of cables each have cables coupled to a respective one of the sets of the rotors at first ends of the respective set of the cables and to an effector at second ends of the respective set of the cables. Each set of the sets of rotors is configured to control tension to the respective one set of the sets of cables for moving the horizontal planar location. Each set of the sets of rotors is vertically movable on the respective one of the supports for moving the vertical location when the sets of rotors are vertically moved, e.g., moved synchronously.