Failure Mode Analysis of a Proposed Manipulator - based Hazardous Material Retrieval System
نویسنده
چکیده
Failure mode and reliability analysis is particularly important for robot manipulators to be deployed in remote environments, where inspection and repair are di cult, and reliability is of prime importance. This is particularly true for manipulators involved in hazardous waste management operations, where failure could be both expensive and highly dangerous. In this paper, we describe a Fault Tree Analysis and detailing of the major failure modes of a robot manipulator-based system for tank waste retrieval. The advantages and limitations of this type of analysis for hazardous waste robotics are detailed and discussed.
منابع مشابه
Hybrid Concepts of the Control and Anti-Control of Flexible Joint Manipulator
This paper presents a Gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. The adaptation laws of designed controller are obtained based on sliding m...
متن کامل3-RPS Parallel Manipulator Dynamical Modelling and Control Based on SMC and FL Methods
In this paper, a dynamical model-based SMC (Sliding Mode Control) is proposed fortrajectory tracking of a 3-RPS (Revolute, Prismatic, Spherical) parallel manipulator. With ignoring smallinertial effects of all legs and joints compared with those of the end-effector of 3-RPS, the dynamical model ofthe manipulator is developed based on Lagrange method. By removing the unknown Lagrange multipliers...
متن کاملadaptive control of two-link robot manipulator based on the feedback linearization method and the proposed neural network
This paper proposes an adaptive control method based on the feedback linearization technique and a proposed neural network, for tracking and position control of an industrial manipulator. At first, it is assumed that the dynamics of the system are known and the control signal is constructed by the feedback linearization method. Then to eliminate the effects of the uncertainties and external d...
متن کاملFailure Mode and Effects Analysis Using Generalized Mixture Operators
Failure mode and effects analysis (FMEA) is a method based on teamwork to identify potential failures and problems in a system, design, process and service in order to remove them. The important part of this method is determining the risk priorities of failure modes using the risk priority number (RPN). However, this traditional RPN method has several shortcomings. Therefore, in this paper we p...
متن کاملA Prioritization Model for HSE Risk Assessment Using Combined Failure Mode, Effect Analysis, and Fuzzy Inference System: A Case Study in Iranian Construction Industry
The unavailability of sufficient data and uncertainty in modeling, some techniques, and decision-making processes play a significant role in many engineering and management problems. Attain to sure solutions for a problem under accurate consideration is essential. In this paper, an application of fuzzy inference system for modeling the indeterminacy involved in the problem of HSE risk assessm...
متن کامل