| 摘要 |
A method for delivering a tubular to a well centered drill axis includes rotating a transfer arm to which a tubular is secured about a first axis from a horizontal position to a vertical position at which a center of gravity of the transfer arm and the tubular is disposed above the first axis; and rotating an upper link of the transfer arm about a second axis while oppositely rotating a clamp support beam about a third axis from the vertical position toward the drilling apparatus while a lower link remains in the vertical position. In delivering the tubular to a drilling apparatus, a tubular supply apparatus controls the speed and acceleration of the tubular without having actuators thereof change between compression and tension states or between rotational states.
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