Robotic device for automation of the control of the status of cables in the mining industry

In this work, we propose a design of a robotic device designed to automate the process of nondestructive testing of wire rope equipment. A schematic hydraulic diagram of a robotic device with a description of the logic of work of the system is given. A mathematical model of the dynamics of the syste...

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Autores principales:	Saypulaev Gasan, Merkuryev Igor, Skulova Polina
Formato:	article
Lenguaje:	EN FR
Publicado:	EDP Sciences 2021
Materias:	Environmental sciences GE1-350
Acceso en línea:	https://doaj.org/article/2515393e1ce84bbe909f9cb79e826796
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id	oai:doaj.org-article:2515393e1ce84bbe909f9cb79e826796
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spelling	oai:doaj.org-article:2515393e1ce84bbe909f9cb79e8267962021-12-02T17:12:02ZRobotic device for automation of the control of the status of cables in the mining industry2267-124210.1051/e3sconf/202132600022https://doaj.org/article/2515393e1ce84bbe909f9cb79e8267962021-01-01T00:00:00Zhttps://www.e3s-conferences.org/articles/e3sconf/pdf/2021/102/e3sconf_ipdme2021_00022.pdfhttps://doaj.org/toc/2267-1242In this work, we propose a design of a robotic device designed to automate the process of nondestructive testing of wire rope equipment. A schematic hydraulic diagram of a robotic device with a description of the logic of work of the system is given. A mathematical model of the dynamics of the system is obtained using the Lagrange formalism. An algorithm for evaluating the control moments necessary for the implementation of programmed motion has been developed. Numerical simulation of the motion corresponding to the mode of approaching the magnetic flaw detector heads to the steel rope has been carried out. The graphs of the traction-speed characteristics and load diagrams of the drives providing the programmed movement of the links of the pantograph mechanism are presented. The results presented in this paper can be used to calculate the parameters of the power section of the electro-hydraulic drives included in the robotic device.Saypulaev GasanMerkuryev IgorSkulova PolinaEDP SciencesarticleEnvironmental sciencesGE1-350ENFRE3S Web of Conferences, Vol 326, p 00022 (2021)
institution	DOAJ
collection	DOAJ
language	EN FR
topic	Environmental sciences GE1-350
spellingShingle	Environmental sciences GE1-350 Saypulaev Gasan Merkuryev Igor Skulova Polina Robotic device for automation of the control of the status of cables in the mining industry
description	In this work, we propose a design of a robotic device designed to automate the process of nondestructive testing of wire rope equipment. A schematic hydraulic diagram of a robotic device with a description of the logic of work of the system is given. A mathematical model of the dynamics of the system is obtained using the Lagrange formalism. An algorithm for evaluating the control moments necessary for the implementation of programmed motion has been developed. Numerical simulation of the motion corresponding to the mode of approaching the magnetic flaw detector heads to the steel rope has been carried out. The graphs of the traction-speed characteristics and load diagrams of the drives providing the programmed movement of the links of the pantograph mechanism are presented. The results presented in this paper can be used to calculate the parameters of the power section of the electro-hydraulic drives included in the robotic device.
format	article
author	Saypulaev Gasan Merkuryev Igor Skulova Polina
author_facet	Saypulaev Gasan Merkuryev Igor Skulova Polina
author_sort	Saypulaev Gasan
title	Robotic device for automation of the control of the status of cables in the mining industry
title_short	Robotic device for automation of the control of the status of cables in the mining industry
title_full	Robotic device for automation of the control of the status of cables in the mining industry
title_fullStr	Robotic device for automation of the control of the status of cables in the mining industry
title_full_unstemmed	Robotic device for automation of the control of the status of cables in the mining industry
title_sort	robotic device for automation of the control of the status of cables in the mining industry
publisher	EDP Sciences
publishDate	2021
url	https://doaj.org/article/2515393e1ce84bbe909f9cb79e826796
work_keys_str_mv	AT saypulaevgasan roboticdeviceforautomationofthecontrolofthestatusofcablesintheminingindustry AT merkuryevigor roboticdeviceforautomationofthecontrolofthestatusofcablesintheminingindustry AT skulovapolina roboticdeviceforautomationofthecontrolofthestatusofcablesintheminingindustry
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Robotic device for automation of the control of the status of cables in the mining industry

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