Design and Kinematics of a Coal Bunker Scraper Guide-Mechanism

Abstract

The paper discusses the evolution of a robotic mechanism which can closely follow the perimeter walls of a coal bunker. A mechanism, which slides on a track along the perimeter and guides the scraper, is constructed. The robot is designed keeping in mind its rigidity and achieves its functionality. The most desired parameter of this robot is the proximity to the walls when the scraper moves to all altitude levels of the bunker. The mechanism discussed permits the scraper to be guided along the walls of a rectangular frustum. Design and selection of parts were done by conventional methods. Workspace analysis of the resultant mechanism was done in MATLAB to ascertain the reach of the scraper. The kinematic development of the mechanism is discussed in brief. The design criticality of structural members was analyzed numerically.