Dynamics of initial penetration in drilling: Part 2 - Motion models for drill skidding and wandering with experimental verification

This part of the paper is aimed at the development of models for the drill tip's transverse and angular motions, the definition of models for establishing the drilled hole's profile and, by combining these results with the dynamic force models of Part 1, the formulation of the complete model for drill skidding and wandering. An experimental verification of the models concludes the paper. For the development of the drill motion models the drill is simplified as a pretwisted beam subjected to a compressive axial load and radial forces acting on its tip. The governing equations are developed using Hamilton's principle. Subsequently, the weak form of the governing equation is formulated to facilitate their solution by the finite element method. The corresponding boundary conditions for the motion model are also defined for three drilling phase, i.e., drill skidding, drill wandering and stabilized drilling. Based on the drill tip's wandering locus and drill rotation, a mathematical model for describing the drilled hole's profile is developed.