Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
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, 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, 184
Keyword [en]
Suspended Robot, Silo Cleaning, Motion-control System, Control Algorithm
National Category
Computer and Information Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-47132DOI: 10.5772/61812ISI: 000366622700002OAI: oai:DiVA.org:oru-47132DiVA: diva2:885303
Available from: 2015-12-18 Created: 2015-12-18 Last updated: 2017-12-01Bibliographically approved

Open Access in DiVA

fulltext(2231 kB)114 downloads
File information
File name FULLTEXT01.pdfFile size 2231 kBChecksum SHA-512
66668991eb92d6bcb9ec80a792130ddad9e5cb04c2a747894ed233d445fc2e1a677d3391bb8fb9a06b536d40d9b4e12461200c4ad37947af48a78d908e33a5f2
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Search in DiVA

By author/editor
Dandan, KinanAlbitar, HoussamAnaniev, AnaniKalaykov, Ivan
By organisation
School of Science and Technology
In the same journal
International Journal of Advanced Robotic Systems
Computer and Information Science

Search outside of DiVA

GoogleGoogle Scholar
Total: 114 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 271 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf