Path Planning and Control of an Industrial Robot Used for Opening Tap Hole of an Electric Arc Furnace
محورهای موضوعی : Manufacturing process monitoring and controlMohammad Esmaili 1 , Mohammad Saadat 2
1 - Department of Mechanical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran
2 - Department of Mechanical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran
کلید واژه: Industrial Robot, Path planning, Electric Arc Furnace, PID Control, SimMechanic,
چکیده مقاله :
The electric arc furnace (EAF) is one of the popular methods of steel production from steel scraps. The plasma arc is used in EAF to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal is drained from the EAF through the tap hole. Nowadays, it is critical to use Automated/robotic tools for opening the tap hole with oxygen lancing. Because many workers have been blinded by spraying molten particles in opening operation. This study was aimed to simulate a robot manipulator with five degrees of freedom designed for opening the tap hole of an electrical arc furnace. The geometrical model of the robot was designed in Solid works software according to the real workplace and its expected path and obstacles. The Newton-Euler approach was employed to derive the dynamic equations and the resultant joint torques. The dynamic model is used to obtain the operating torques of the joints as well as in the simulation using the SimMechanic toolbox in Matlab software. The results of the simulation with SimMechanic show that the control system can follow the desired path of the robot with acceptable accuracy.
[1] Labar, H., Djeghader, Y., Samira, K. M. and Kamel, B. 2009. Closely parametrical model for an electrical arc furnace. World Academy of Science. Engineering and Technology. 40: 96-100.
[2] Seetharaman, S., Mclean, A. and Goodwill, J. E. 2014. Treatise on process metallurgy: industrial processes. Royal Institute of Technology. Stockholm, Sweden.
[3] Moberg, S. 2010. Modeling and control of flexible manipulators. Ph.D. Thesis. Department of Electrical Engineering Linköping University, SE–581 83 Linköping, Sweden.
[4] Høifødt, H. 2011. Dynamic modeling and simulation of robot manipulators. MSc Thesis, Department of Engineering Cybernetics. Norwegian University of Science and Technology
[5] Esmaeili, M., Saadat, M. 2019. Dynamic Modeling of a Robot Manipulator for Opening the Tap Hole of an Electric Arc Furnace. Journal of Modern Processes in Manufacturing and Production. 8(4): 17-24.
[6] Tenova. 2015. Melt shops top charge EAF with an anthropomorphic temperature and sampling Robot. URL: https://www.youtube.com/watch?v=7Yr5qYZUpso
[7] Craig, J. J. 1989. Introduction to Robotics: Mechanics and Control .2nd. Ed. Addison-Wesley Longman Publishing Co., Inc., USA.
