Abstract
The paper discusses the evolution of a robotic mechanism which can closely follow the perimeter walls of a coal bunker. A mechanism, which slides on a track along the perimeter and guides the scraper, is constructed. The robot is designed keeping in mind its rigidity and achieves its functionality. The most desired parameter of this robot is the proximity to the walls when the scraper moves to all altitude levels of the bunker. The mechanism discussed permits the scraper to be guided along the walls of a rectangular frustum. Design and selection of parts were done by conventional methods. Workspace analysis of the resultant mechanism was done in MATLAB to ascertain the reach of the scraper. The kinematic development of the mechanism is discussed in brief. The design criticality of structural members was analyzed numerically.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Dandan K, Ananiev A, Kalaykov I (2013) SIRO: the silos surface cleaning robot concept. In: 2013 IEEE International Conference on Mechatronics and automation (ICMA). IEEE, pp. 657–661. Author F, Author S, Author T (eds) Book title. 2nd edn. Publisher, Location (1999)
Dandan K, Albitar H, Ananiev A, Kalaykov I (2016) Confined spaces: cleaning techniques and robot-based surface cleaning. Am Sci Res J Eng, Technol, Sci (ASRJETS), 22:210–230LNCS Homepage. http://www.springer.com/lncs. Last accessed 21 Nov 2016
Yasui H, Mitani T, Komabashiri T (1989) Apparatus for cleaning a tank-like vessel. In: Google patents
Hartwigsen WD, Johnson AD, Beckham JC, White KL (1990) Silo cleaning apparatus. In: Google patents
Spencer MF, Clark FJ, Henningsen EA (1966) Silo unloader with wall cleaning means. In: Google patents
Farajun D (1986) Apparatus for silo clean out. In: Google patents
Botti L, Ferrari E, Mora C (2017) Automated entry technologies for confined space work activities: a survey. J Occup Environ Hyg 14:271–284
Tsai L-W (1999) Robot analysis: the mechanics of serial and parallel manipulators. Wiley
Gao F, Li W, Zhao X, Jin Z, Zhao H (2002) New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs. Mech Mach Theory 37:1395–1411
Sowa L, Saternus Z, Kubiak M (2017) Numerical modelling of mechanical phenomena in the gantry crane beam. Procedia Eng 177:225–232
Gerdemeli I, Kurt S (2014) Design and finite element analysis of gantry crane. In: Key engineering materials. Trans Tech Publications, vol 572, pp 517–520
Bier ML (1959) Scraper attachment for silo unloader. In: Google patents
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Ramakrishnan, B., Syriac, A.S., Chaudhari, C., Shah, A., Chiddarwar, S.S. (2020). Design and Kinematics of a Coal Bunker Scraper Guide-Mechanism. In: Voruganti, H., Kumar, K., Krishna, P., Jin, X. (eds) Advances in Applied Mechanical Engineering. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-1201-8_57
Download citation
DOI: https://doi.org/10.1007/978-981-15-1201-8_57
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-1200-1
Online ISBN: 978-981-15-1201-8
eBook Packages: EngineeringEngineering (R0)