Design and Analysis of a Dredger Robot for Covered Irrigation Canals

Shademani, Sh.; Zarafshan, Payam; khashechi, morteza; Kianmehr, Mohammad Hossein; Hashemy, S. M.

doi:10.1109/icrom.2017.8466207

Cited by 3 publications

(2 citation statements)

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“…Food production methods demand exact and efficient robotic solu tions. Examples include a dredger robot that can perform maintenance tasks such as re moving debris, weeds, and sediments [116].…”

Section: Application Of Mobile Manipulator In Agriculturementioning

confidence: 99%

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

et al. 2023

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Inspection and repair interventions play vital roles in the asset management of railways. Autonomous mobile manipulators possess considerable potential to replace humans in many hazardous railway track maintenance tasks with high efficiency. This paper investigates the prospects of the use of mobile manipulators in track maintenance tasks. The current state of railway track inspection and repair technologies is initially reviewed, revealing that very few mobile manipulators are in the railways. Of note, the technologies are analytically scrutinized to ascertain advantages, unique capabilities, and potential use in the deployment of mobile manipulators for inspection and repair tasks across various industries. Most mobile manipulators in maintenance use ground robots, while other applications use aerial, underwater, or space robots. Power transmission lines, the nuclear industry, and space are the most extensive application areas. Clearly, the railways infrastructure managers can benefit from the adaptation of best practices from these diversified designs and their broad deployment, leading to enhanced human safety and optimized asset digitalization. A case study is presented to show the potential use of mobile manipulators in railway track maintenance tasks. Moreover, the benefits of the mobile manipulator are discussed based on previous research. Finally, challenges and requirements are reviewed to provide insights into future research.

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Section: Application Of Mobile Manipulator In Agriculturementioning

confidence: 99%

A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track

et al. 2023

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“…Then, connections are applied between joints. Also, the parameters of the system are described in Table I and initial conditions for simulations are stated in Table II (Shademani et al , 2017).…”

Section: Software Modelling and Simulationmentioning

confidence: 99%

Conceptual design and analysis of a dredger robot for irrigation canals

Shademani

Zarafshan

Khashehchi

et al. 2019

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Purpose This paper aims to present a solution to dredging the irrigation canals using a robotic system. Considering the importance of irrigating water, the waste within the water canals should be avoided. Irrigation canals are artificial linear structures in the landscape that are used for transporting the water. One important problem in water transferring is the waste materials flow inside the water, and in some areas, they block the main stream, reducing the effective capacity of the canal. Among the waste materials, aquatic plants are grown on the surface of the canal that needs to be removed from the canal. This removal operation is conducted using chemical, biological, ecological and physical methods with complex supply systems. In addition, robotic systems are used as such complex systems. So, a robotic system is proposed to dredging the irrigation canals. The assumed robot was manufactured in AGRINS laboratory of Tehran University. Design/methodology/approach Design procedure, dynamic modelling and simulation of this robotic system are studied. To validate the system design before its construction, ADAMS software is used to perform simulations. Finally, performance evaluation of the dredger robot in the canal is studied based on the experimental data. Findings Results show that the design procedure has been correctly fitted to the real condition. Therefore, the designed robot could be easily used to dredging irrigation canals. Practical implications The assumed robot was manufactured in AGRINS laboratory of Tehran University. Originality/value Performing a dredging operation in the canals could be conducted by a new technique considering both free sides of the canal. Therefore, in this paper, a conceptual design of a 3-wheels stair dredger robot is numerically and experimentally studied.

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