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Investigation of The Bucket Wheel Reclaimer's Cutting Trajectory To Define Optimal Voxel Shape
Investigation of The Bucket Wheel Reclaimer's Cutting Trajectory To Define Optimal Voxel Shape
Investigation of The Bucket Wheel Reclaimer's Cutting Trajectory To Define Optimal Voxel Shape
1. INTRODUCTION
The mining industry of Australia generates $138 billion
income per annum, which represents 54 % of total
Australian income. Besides it employs 187,400 people
directly, and a further 599,680 in support industries [1].
Among bulk materials, Australia plays leading role in
exporting iron ore in the world [1]. Iron ore is exported to
overseas customers to feed into blast furnaces for making
steel. Blast furnaces are finely tuned to accept only specific
mineral composition. Steel producers concern not only iron
composition as well as the composition of other
contaminates such as silica, alumina and phosphorous when
buying from ore producers [2]. Therefore, it is very much
concern for ore producers to supply the ore with required
mineral composition to maintain quality reputation.
Ore producers plan mines production over a year to
average a desired composition but the short term fluctuation
is inevitable [3]. To compensate the short term fluctuation,
blending is commonly used to achieve consistency in
mineral composition. Blending refers to combination of ore
from different blocks (pits, streams, etc.) onto a single
stockpile. The ore is excavated from open cut pits and railed
to the port. At the port, the ore is crushed and separated into
2. LITERATURE REVIEW
To the best of authors knowledge, all previous studies
except three studies treated stockpiles as a single entity with
average quantity and grade. In this literature review, the
three most relevant studies are reviewed. The first study of
literature treating stockpile as a combination of unit volume
is conducted by SimineCIS. SimineCIS introduced a
comprehensive
material-monitoring
system
for
straightforward quality planning and material blending
called SimineCIS MAQ in 2009 [6].
1
Maung Thi Rein Myo, Department of Mechanical Engineering,
University of Adelaide (Email: maung.myo@adelaide.edu.au)
2
Tien-Fu Lu, Department of Mechanical Engineering, University of
Adelaide (Email: tien-fu.lu@adelaide.edu.au)
RECEIVED: 25, DEC., 2012; REVISED: 16, JAN., 2013; ACCEPTED: 18, JAN., 2013; PUBLISHED: 27, JAN., 2013.
ISSN: 2345-234X
REIN MYO et al.: INVESTIGATION OF THE BUCKET WHEEL RECLAIMER'S CUTTING TRAJECTORY TO DEFINE OPTIMAL VOXEL SHAPE.
55
target falls within the demand range and thus the proposed
optimization satisfies the demand with the BWR minimum
movement.
3. BWR
The large increase in the transportation of bulk material
enforced to design the worlds largest land based machines
in the late 19th and early 20th centuries based on the bucket
wheel technology from waterborne ladder dredgers concept
[10-11]
. Since then, bucket wheel system was used in stacking,
reclaiming and shipping bulk materials at ports and mine
sites, excavating and waste disposed in mines, and handling
ore at plants [10]. Bucket wheel stackers and reclaimers have
played major role in handling large tonnages of bulk
materials in the large Stockyards [11]. In this study, the BWR
is used for the purpose of reclaiming bulk material such as
coal and iron ore from stockpiles in Stockyard. The BWR is
available in many types depends on the configuration and
structure of the mechanisms. From all, the rail supported
and boom mounted BWR is chosen in this study. The
typical BWR used in the Stockyard is shown in Figure 4. It
is one of the largest machines on earth with 25m height,
50m in length and 13,000 tonnes in weight. A rotating
wheel with buckets is attached at the end of a 45m boom to
scoop material [12]. The conveyor belt is fixed in the middle
section of the boom to carry materials fallen from buckets
[13]
.
56
TRANSACTION ON CONTROL AND MECHANICAL SYSTEMS, VOL. 2, NO. 2, PP. 54-60, FEB., 2013.
A. Configuration of a BWR
BWR can be classified as a serial manipulator in robotic
fields [12, 15]. The schematic diagram of a BWR with
stockpile is shown in Figure 5. The prismatic joint
represents for the translation motion of the main body
moving on the rectilinear rail. The slewing motion is rotated
about the Axis 2 for reclaiming whereas the luffing motion
is rotated on the Axis 3 for accessing lower bench of the
stockpile. Lu treated BWR as a three degree of freedoms
robot manipulator considering bucket wheel as an
end-effector [15]. However in this study, the BWR will be
treated as four degrees of freedom manipulator counting
bucket wheel as a link.
REIN MYO et al.: INVESTIGATION OF THE BUCKET WHEEL RECLAIMER'S CUTTING TRAJECTORY TO DEFINE OPTIMAL VOXEL SHAPE.
57
Fig. 10. BWR skeleton with assigned frames using modified D-H
representation
Where,
2 = slewing angle between X2 and X1 measured about Z1.
3 = luffing angle between X3 and X2 measured about Z2.
b= bucket wheel angle between Xb and X5 measured about
Z5.
d1= translated distance between X1 and X0 measured along
Z0.
r = radius of the bucket wheel
L2, L3, L4, L5, h and k are distances between respected
frames and are constant parameters. The value of the
constant parameters varies depends on the type and
dimension of BWR. On the other hand, d1, 2, 3 and b are
variable parameters representing translating, slewing,
luffing and bucket wheel rotation motions.
The transformation matrix for adjacent coordinate
frames, i and i-1 using modified D-H representation is given
by [19]:
TRANSACTION ON CONTROL AND MECHANICAL SYSTEMS, VOL. 2, NO. 2, PP. 54-60, FEB., 2013.
58
sin i
cos i
sin cos
cos i cos i 1
i
i 1
i 1
iT
sin i sin i 1 cos i sin i 1
0
0
0
sin i 1
cos i 1
0
ai 1
sin i 1di
cos i 1di
20
15
10
0
0
-20
50
40
-40
30
20
-60
-80
10
0
mx nx ox
m n o
0
Tb 0T1 1T2 2T3 3T4 4T5 5Tb y y y
mz nz oz
0 0 0
xb
yb O P
zb 0 1
(2)
L3 k sin 3 L5 sin 3
z b r cos 2 cos 3 cos(0, 2 ) r cos 2 sin 3 sin(0, 2 )
(3)
(5)
REIN MYO et al.: INVESTIGATION OF THE BUCKET WHEEL RECLAIMER'S CUTTING TRAJECTORY TO DEFINE OPTIMAL VOXEL SHAPE.
59
REFERENCES
[1]
[2]
[3]
[4]
[5]
[6]
20
15
10
[7]
5
0
0
-20
[8]
50
40
-40
30
20
-60
-80
10
0
7.
[9]
CONCLUSION
[10]
[11]
[12]
[13]
[14]
[15]
ACKNOWLEDGMENT
The authors would like to thank Australian Research
Council and Industry Partner, Matrix Group Lty Ltd. for the
in part financial and in-kind support through ARC Linkage
LP0989780 grant.
[16]
[17]
60
TRANSACTION ON CONTROL AND MECHANICAL SYSTEMS, VOL. 2, NO. 2, PP. 54-60, FEB., 2013.