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

Jose A. Escudero, Juan A. Ramírez-Maćias, Julio C.Correa David Rozo

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

1 Cita (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaOffshore Geotechnics; Torgeir Moan Honoring Symposium
EditorialAmerican Society of Mechanical Engineers (ASME)
ISBN (versión digital)9780791857779
DOI
EstadoPublicada - 2017
Publicado de forma externa
EventoASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2017 - Trondheim, Noruega
Duración: 25 jun. 201730 jun. 2017

Serie de la publicación

NombreProceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE
Volumen9

Conferencia

ConferenciaASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2017
País/TerritorioNoruega
CiudadTrondheim
Período25/06/1730/06/17

Nota bibliográfica

Publisher Copyright:
Copyright © 2017 ASME.

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