Open this publication in new window or tab >>2015 (English)In: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 12, article id 184Article in journal (Refereed) Published
Abstract [en]
Both the principle of operation and the motion-control system of a suspended robot for surface cleaning in silos are presented in this paper. The mechanical design is a reasonable compromise between basically contradictory factors in the design: the small entrance and the large surface of the confined space, and the suspension and the stabilization of the robot. The design consists of three main parts: a support unit, the cleaning robot and a cleaning mechanism. The latter two parts enter the silo in a folded form and, thereafter, the robot’s arms are spread in order to achieve stability during the cleaning process. The vertical movement of the robot is achieved via sequential crawling motions.
The control system is divided into two separate subsystems, the robot’s control subsystem and a support-unit control subsystem, in order to facilitate different operational modes. The robot has three principle motion-control tasks: positioning the robot inside the silo, holding a vertical position during the cleaning process and a crawling movement.
A scaled prototype of the robot has been implemented and tested to prove the concept, in order to make certain that the mechanical design suits the main functions of the robotic system, to realize the robot’s design in an industrial version and to test it in a realistic environment.
Place, publisher, year, edition, pages
InTech, 2015
Keywords
Suspended Robot, Silo Cleaning, Motion-control System, Control Algorithm
National Category
Computer and Information Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-47132 (URN)10.5772/61812 (DOI)000366622700002 ()2-s2.0-85027844643 (Scopus ID)
2015-12-182015-12-182023-12-08Bibliographically approved