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Enabling Surface Cleaning Robot for Large Food Silo
Örebro University, School of Science and Technology.
2019 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Working conditions in the dry cleaning and sanitation of confined interior spaces are often extreme, and workers need overall protection with tight clothing, helmets, face mask, earmuffs, and respirators. The environment is dirty, noisy with bad visibility and heavy with a high static work load. Dry cleaning is mainly practised in silos for grain, foodstuff and flour, etc. The inside of the silo is a hazardous environment due to many factors such as an unsafe oxygen level, engulfment, biological, mechanical, electrical, and atmospheric hazards. The requirements of the EU norms related to hygiene and food quality indicate that silos should be cleaned frequently and cleaning is obligatory after a silo is totally emptied. Therefore, there is an increased societal need for silo cleaning and a natural necessity to replace humans by robot manipulators in executing this risky and dangerous job.

This thesis presents a new concept of a flexible crawling mechanism for an industrial food cleaning robot, which is evaluated from the viewpoint of the capability to work inside a large food silo, scanning the desired surface, and performing the cleaning task. The main research questions investigated in this thesis are about: how to select the most important characteristics in designing a robot to fulfil the surface cleaning operation of a large confined space; how the crawling movement affects the dynamic behaviour of the robot mechanism; how the cleaning process affects the dynamic behaviour of the robot mechanism; how to develop the control of the robot to realize the locomotion and the cleaning process.

The structure of the robot and the cleaning technology are well defined after an overview of the existing technologies and solutions for cleaning large confined spaces. The robot design is based on a suspension and crawling system, using minimal actuators, where the force of gravity is well used to simplify the control system and to stabilise the robot. Further, the static and dynamic analysis of the mechanical system is studied. In addition, the control architecture of the system is performed, where the required sensors and control algorithm are given. A scale model testing has also been used to verify the locomotion of the concept, while simple controllers and algorithms are used to manage the motions of the prototype.

Place, publisher, year, edition, pages
Örebro: Örebro University , 2019. , p. 77
Series
Örebro Studies in Technology, ISSN 1650-8580 ; 81
Keywords [en]
Confined space, surface cleaning robot, motion control, static and dynamic analysis
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:oru:diva-70819ISBN: 978-91-7529-271-7 (print)OAI: oai:DiVA.org:oru-70819DiVA, id: diva2:1272554
Public defence
2019-02-08, Örebro universitet, Långhuset, Hörsal L2, Fakultetsgatan 1, Örebro, 13:15 (Swedish)
Opponent
Supervisors
Available from: 2018-12-19 Created: 2018-12-19 Last updated: 2019-01-14Bibliographically approved
List of papers
1. SIRO: the silos surface cleaning robot concept
Open this publication in new window or tab >>SIRO: the silos surface cleaning robot concept
2013 (English)Conference paper, Published paper (Refereed)
Abstract [en]

A concept of a suspended robot for surface cleaning in silos is presented in this paper. The main requirements and limitations resulting from the specific operational conditions are discussed. Due to the large dimension of the silo as a confined space, specific kinematics of the robot manipulator is proposed. The major problems in its design are highlighted and an approach to resolve them is proposed. The suggested concept is a reasonable compromise between the basic contradicting factors in the design: small entrance and large surface of the confined space, suspension and stabilization of the robot

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013
National Category
Robotics Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-30689 (URN)10.1109/ICMA.2013.6617994 (DOI)000335375900111 ()2-s2.0-84887856459 (Scopus ID)978-1-4673-5560-5 (ISBN)
Conference
The 2013 IEEE International Conference on Mechatronics and Automation (ICMA), 4-7 aug. 2013, Takamatsu, Japan
Available from: 2013-09-04 Created: 2013-09-04 Last updated: 2019-01-14Bibliographically approved
2. Modeling and simulation of a silo cleaning robot
Open this publication in new window or tab >>Modeling and simulation of a silo cleaning robot
2014 (English)In: Mobile Service Robotics / [ed] Krazystof Kotowski, Mohammad O Tokhi and Gurvinder S Virk, Singapore: World Scientific, 2014, p. 627-635Conference paper, Published paper (Refereed)
Abstract [en]

A suspended robot for surface cleaning in silos is presented in this paper. Thesuggested concept is a reasonable compromise between the basic contradictingfactors in the design: small entrance and large surface of the confined space,suspension and stabilization of the robot. A dynamic study for the suspendedrobot is presented in this paper. A dynamic simulation in MSC ADAMS iscarried out to confirm the results from the theoretic study.

Place, publisher, year, edition, pages
Singapore: World Scientific, 2014
Keywords
Suspended robot, Cleaning robot, Dynamic model, Dynamic simulation
National Category
Computer Sciences
Identifiers
urn:nbn:se:oru:diva-35878 (URN)000342693100074 ()2-s2.0-85007393142 (Scopus ID)978-981-4623-34-6 (ISBN)
Conference
the 17th international conference on climbing and walking robots
Available from: 2014-08-08 Created: 2014-08-07 Last updated: 2019-01-14Bibliographically approved
3. Motion Control of Siro: The Silo Cleaning Robot
Open this publication in new window or tab >>Motion Control of Siro: The Silo Cleaning Robot
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 ()
Available from: 2015-12-18 Created: 2015-12-18 Last updated: 2019-02-15Bibliographically approved
4. Dynamical Analysis of Silo Surface Cleaning Robot using Finite Element Method
Open this publication in new window or tab >>Dynamical Analysis of Silo Surface Cleaning Robot using Finite Element Method
2016 (English)In: International Journal of Mechanical Engineering & Technology (IJMET), ISSN 0976-6340, Vol. 07, no 01, p. 190-202, article id IJMET_07_01_020Article in journal (Refereed) Published
Abstract [en]

All mechanical systems are subjected to dynamic forces when they are in functioning. Thus a dynamical analysis has to be studied to determine the system behaviour. The vibration is of interest to study, due to its destructive or constructive effect. In the present era computational techniques are quite common and are very reliable as far as the modal analysis is concerned. In this work, the robot of silo cleaning is analysed for its vibration behaviour using finite element method (FEM).The robot was modelled and meshed in ANSYS. Modal analysis was conducted to calculate few initial natural frequencies. After carrying out the modal analysis, harmonic and transient analysis were done to see the response of the robot under dynamic loading. It was observed that robot is safe in its entire range of operation.

Place, publisher, year, edition, pages
India: IAME, 2016
Keywords
Silo, Suspended Robot, Finite Element, Modal Analysis, Dynamic Analysis
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-48415 (URN)
Available from: 2016-02-19 Created: 2016-02-19 Last updated: 2019-03-22Bibliographically approved

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