Hydraulic Test Bed

At PNNL, a gantry robot is used to test waste retrieval end effectors in a simulated mining operation. Although the end effectors will ultimately be deployed on a long reach robotic arm or crawler, a gantry-style manipulator is used for positioning the end effectors due to its inherent rigidity, programmability, and large load capacity. The gantry was provided by PaR Systems and includes 4 degrees of freedom to allow translation in three directions plus rotation. The gantry has a working envelop of 8 ft by 10 ft by 4 ft (vertical). The control system of the gantry allows sensor data to be used to update the trajectory in real time. This feature allows the use of proximity sensors to track uneven terrain. The gantry is an ideal platform to test remote cutting technologies, deploy sensors to collect spatial data, and perform repetitive pick-and-place operations.

The simulated mining operation is supported by several other pieces of equipment, including a conveyance line management arm, a high pressure (10,000 psi) pump to provide cutting fluid for the end effector, a material receipt hopper, and a simulated waste tank. To evaluate the system in real-world conditions, structures can be included to simulate the presence of cooling coils, tank obstructions, debris, and support beams and columns.

End Effector Reaction Forces

Project Contact: B. Hatchell