| Abstrakt: |
Safe mechanical evacuation of hazardous bulk materials in industrial confined spaces with improper conditions (poor light for vision, dust or vapor, high temperature, and toxic fume) and potential of combustion and explosion is high‐risk mission for human. This study deals with development and performance assessments of a robot for this purpose. The robot comprised four major units including control, electro‐hydraulic actuator, communication, and monitoring unit. Detailed descriptions of the units and their main components are beyond the scope of current report. Meanwhile, the robot has movable and stationary parts. The movable part is a wheeled mobile robot which guides suction tube in the confined space. Robotic evacuation operations are accomplished by supervisory remote control at base station with feedback from camera video of the mobile robot. Simulation results showed accurate performance of defined objectives for the units and their main components through designed hydraulic and electronic circuits. Stationary assessments for forward speed (0–30 m/min) and drawbar pull (‐0‐755.6 N) of the mobile robot yielded acceptable results in case of robot mobility. Operational assessments of the robot in two chemical reactors comprised depreciated catalyst and ceramic balls practically approved efficient, safe, feasible, and easily implementable of robotic evacuation operations. Overall, the robot proposed in this study eliminates employment of a human in highly risky conditions of industrial confined spaces. [ABSTRACT FROM AUTHOR] |
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