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Motion control of robot inside a silo

Publicerad 2019-06-05


Om uppdragsgivaren
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Beskrivning av examensarbetet
Background
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. 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.

Background of thesis projects
The design of suspended robotic platforms for the cleaning of the interior surfaces of a large confined space is based on a minimalistic approach to achieve a compromise between maximum performance and reasonable complexity. The robot is characterized by using minimum degrees of freedom, and gravity is utilized as the best way for reducing the power needed for locomotion.
The robot has a foldable and expandable structure in order to meet two very contradictory conditions, namely a very large space to operate in and a very small entry hole on the silo roof. The robot’s main functions are to bear the cleaning tools air jets and to stabilize the cleaning tools while they rotate to perform the cleaning. The pose of the robot should be on silo’s axel so the nozzles of the cleaning tool have equidistant from the interior surface.

Thesis project task
Survey about control system for stabilizing suspended dynamic load
Design a mechanism to generate appropriate forces to hold the robot’s position
Optimise robot’s position inside the silo.
Design the control system for the robot.
Suitable background
Robotics, Mechanical engineering, Automation & Mechatronic.

Methodology
• Understand the needs and prerequisites at cleaning large food silo
• Set up a theory for the human machine interaction
• Study theories various sensor systems, e.g. force sensor
• Implement and run demonstration
Language
Thesis is to be written in English.


Kontaktperson
Kinan Dnadan
kinan.dandan@knightec.se
0724675326


Tillbaka
  Utbildningsområde
Teknik/Energiteknik/Miljö/Transport

Uppdragsgivare
Knightec

Ort
Västerås

Sista ansökningdag
2019-09-03



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