Graphical modeling and simulation for design and control of a tele-operated clinker clearing robot

Graphical modeling and simulation to analyze and visualize geometry and dynamic processes can improve construction and maintenance in many ways. This paper presents the usefulness of graphical modeling and simulation for the development of construction/maintenance equipment that requires extensive geometry analysis for machine design and remote-operation for control purpose. The development of a tele-operated clinker clearing robot for the maintenance of lignite-fired power facilities is described. The geometric and kinematic design of the robot was performed based on graphical modeling and simulation through interference analysis and visualization. The use of this graphics technique was further extended to the control of the robot from a remote distance because of the hazardous work environment condition. Graphical representation of the equipment and the work environment enhanced equipment control by providing better spatial perception to the operator. Real-time simulation with graphical models also ensured safe and reliable operation of equipment. It is believed that the workflow and the techniques discussed in this paper can also be successfully employed for the development of new equipment that needs to deal with geometrically complex and hazardous work environments.