Experimental study of push coring forces during sediment extraction using a robot manipulator

    Research output: Chapter in Book/Report/Conference proceedingConference and proceedingspeer-review

    1 Scopus citations

    Abstract

    This work addresses the experimental study of the forces exerted during the extraction of sediment samples using push cor-ers. The study aims to measure push and pull forces under different deployment conditions for corer speed and coring depth using sand, sandy silt and silt as sediment. To guarantee a re-peatable automated process, a KUKA KR6 robot manipulator was used to extract the sample. The forces were measured using a bidirectional S-type load cell. The required data is extracted from the robot's internal variables log and from the load cell's data acquisition system. The raw data is processed to develop simplified models for the forces using linear regression which are further analyzed and tested. Finally, the results obtained are discussed in the context of core sampling and practical conclusions are drawn from the experiments.

    Original languageEnglish
    Title of host publicationOffshore Geotechnics; Torgeir Moan Honoring Symposium
    PublisherAmerican Society of Mechanical Engineers (ASME)
    ISBN (Electronic)9780791857779
    DOIs
    StatePublished - 2017
    EventASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2017 - Trondheim, Norway
    Duration: 25 Jun 201730 Jun 2017

    Publication series

    NameProceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE
    Volume9

    Conference

    ConferenceASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2017
    Country/TerritoryNorway
    CityTrondheim
    Period25/06/1730/06/17

    Bibliographical note

    Publisher Copyright:
    Copyright © 2017 ASME.

    Fingerprint

    Dive into the research topics of 'Experimental study of push coring forces during sediment extraction using a robot manipulator'. Together they form a unique fingerprint.

    Cite this