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Motion Control of Siro: The Silo Cleaning Robot
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-5925-1379
Örebro University, School of Science and Technology. (AASS)
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. Vol. 12, article id 184
Keywords [en]
Suspended Robot, Silo Cleaning, Motion-control System, Control Algorithm
National Category
Computer and Information Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-47132DOI: 10.5772/61812ISI: 000366622700002OAI: oai:DiVA.org:oru-47132DiVA, id: diva2:885303
Available from: 2015-12-18 Created: 2015-12-18 Last updated: 2019-02-15Bibliographically approved
In thesis
1. Enabling Surface Cleaning Robot for Large Food Silo
Open this publication in new window or tab >>Enabling Surface Cleaning Robot for Large Food Silo
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
Confined space, surface cleaning robot, motion control, static and dynamic analysis
National Category
Computer Sciences
Identifiers
urn:nbn:se:oru:diva-70819 (URN)978-91-7529-271-7 (ISBN)
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

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Dandan, KinanAlbitar, HoussamAnaniev, AnaniKalaykov, Ivan

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