An implementation of a system that emulates the operation of a pipe positioning arm for Raise Boring application

Gabriel Franco; Oscar Jauregui; Leonardo Vinces; José Oliden

An implementation of a system that emulates the operation of a pipe positioning arm for Raise Boring application

Gabriel Franco, Oscar Jauregui, Leonardo Vinces, José Oliden

Faculty of Engineering

Universidad Peruana de Ciencias Aplicadas

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The lack of an automated system for pipe positioning in Raise Boring mining works (RB) generates a longer working time and higher expenses for mining companies due to a greater number of usage errors produced by the operators. Therefore, reducing the intervention of the user in the RB tunneling and raising processes is expected to increase work efficiency. The objective of the project is to design and test, through the implementation of a scale model, a pipe positioning system that operates autonomously using direct and inverse kinematics to reduce the number of people involved in the working process to carry out the same job. The function of the system is to pick up a horizontal tube and place it at the required point in a vertical position or with up to a 45° inclination with a 4 degrees of freedom (DOFs) robotic arm. The implementation was made with servo motors, and the parts were printed in 3D using PLA. The coordinates of the arm positions were obtained through simulations carried out in Python code, which were compared with the resulting coordinates of the prototype implementation. After that, an accuracy of 96.29% and an average operation time of 16.21 seconds were obtained in the tests carried out with the prototype, demonstrating the effectiveness of the implemented system.

Original language	English
Title of host publication	Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology
Subtitle of host publication	Leadership in Education and Innovation in Engineering in the Framework of Global Transformations: Integration and Alliances for Integral Development, LACCEI 2023
Editors	Maria M. Larrondo Petrie, Jose Texier, Rodolfo Andres Rivas Matta
Publisher	Latin American and Caribbean Consortium of Engineering Institutions
ISBN (Electronic)	9786289520743
State	Published - 2023
Event	21st LACCEI International Multi-Conference for Engineering, Education and Technology, LACCEI 2023 - Buenos Aires, Argentina Duration: 19 Jul 2023 → 21 Jul 2023

Publication series

Name	Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology
Volume	2023-July
ISSN (Electronic)	2414-6390

Conference

Conference	21st LACCEI International Multi-Conference for Engineering, Education and Technology, LACCEI 2023
Country/Territory	Argentina
City	Buenos Aires
Period	19/07/23 → 21/07/23

Keywords

automation
kinematics
pipe positioner
raise boring
raspberry pi
servomotor

Cite this

Franco, G., Jauregui, O., Vinces, L., & Oliden, J. (2023). An implementation of a system that emulates the operation of a pipe positioning arm for Raise Boring application. In M. M. Larrondo Petrie, J. Texier, & R. A. R. Matta (Eds.), Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology: Leadership in Education and Innovation in Engineering in the Framework of Global Transformations: Integration and Alliances for Integral Development, LACCEI 2023 (Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology; Vol. 2023-July). Latin American and Caribbean Consortium of Engineering Institutions.

Franco, Gabriel ; Jauregui, Oscar ; Vinces, Leonardo et al. / An implementation of a system that emulates the operation of a pipe positioning arm for Raise Boring application. Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology: Leadership in Education and Innovation in Engineering in the Framework of Global Transformations: Integration and Alliances for Integral Development, LACCEI 2023. editor / Maria M. Larrondo Petrie ; Jose Texier ; Rodolfo Andres Rivas Matta. Latin American and Caribbean Consortium of Engineering Institutions, 2023. (Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology).

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abstract = "The lack of an automated system for pipe positioning in Raise Boring mining works (RB) generates a longer working time and higher expenses for mining companies due to a greater number of usage errors produced by the operators. Therefore, reducing the intervention of the user in the RB tunneling and raising processes is expected to increase work efficiency. The objective of the project is to design and test, through the implementation of a scale model, a pipe positioning system that operates autonomously using direct and inverse kinematics to reduce the number of people involved in the working process to carry out the same job. The function of the system is to pick up a horizontal tube and place it at the required point in a vertical position or with up to a 45° inclination with a 4 degrees of freedom (DOFs) robotic arm. The implementation was made with servo motors, and the parts were printed in 3D using PLA. The coordinates of the arm positions were obtained through simulations carried out in Python code, which were compared with the resulting coordinates of the prototype implementation. After that, an accuracy of 96.29\% and an average operation time of 16.21 seconds were obtained in the tests carried out with the prototype, demonstrating the effectiveness of the implemented system.",

keywords = "automation, kinematics, pipe positioner, raise boring, raspberry pi, servomotor",

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Franco, G, Jauregui, O, Vinces, L & Oliden, J 2023, An implementation of a system that emulates the operation of a pipe positioning arm for Raise Boring application. in MM Larrondo Petrie, J Texier & RAR Matta (eds), Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology: Leadership in Education and Innovation in Engineering in the Framework of Global Transformations: Integration and Alliances for Integral Development, LACCEI 2023. Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology, vol. 2023-July, Latin American and Caribbean Consortium of Engineering Institutions, 21st LACCEI International Multi-Conference for Engineering, Education and Technology, LACCEI 2023, Buenos Aires, Argentina, 19/07/23.

An implementation of a system that emulates the operation of a pipe positioning arm for Raise Boring application. / Franco, Gabriel; Jauregui, Oscar; Vinces, Leonardo et al.
Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology: Leadership in Education and Innovation in Engineering in the Framework of Global Transformations: Integration and Alliances for Integral Development, LACCEI 2023. ed. / Maria M. Larrondo Petrie; Jose Texier; Rodolfo Andres Rivas Matta. Latin American and Caribbean Consortium of Engineering Institutions, 2023. (Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology; Vol. 2023-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An implementation of a system that emulates the operation of a pipe positioning arm for Raise Boring application

AU - Franco, Gabriel

AU - Jauregui, Oscar

AU - Vinces, Leonardo

AU - Oliden, José

PY - 2023

Y1 - 2023

N2 - The lack of an automated system for pipe positioning in Raise Boring mining works (RB) generates a longer working time and higher expenses for mining companies due to a greater number of usage errors produced by the operators. Therefore, reducing the intervention of the user in the RB tunneling and raising processes is expected to increase work efficiency. The objective of the project is to design and test, through the implementation of a scale model, a pipe positioning system that operates autonomously using direct and inverse kinematics to reduce the number of people involved in the working process to carry out the same job. The function of the system is to pick up a horizontal tube and place it at the required point in a vertical position or with up to a 45° inclination with a 4 degrees of freedom (DOFs) robotic arm. The implementation was made with servo motors, and the parts were printed in 3D using PLA. The coordinates of the arm positions were obtained through simulations carried out in Python code, which were compared with the resulting coordinates of the prototype implementation. After that, an accuracy of 96.29% and an average operation time of 16.21 seconds were obtained in the tests carried out with the prototype, demonstrating the effectiveness of the implemented system.

AB - The lack of an automated system for pipe positioning in Raise Boring mining works (RB) generates a longer working time and higher expenses for mining companies due to a greater number of usage errors produced by the operators. Therefore, reducing the intervention of the user in the RB tunneling and raising processes is expected to increase work efficiency. The objective of the project is to design and test, through the implementation of a scale model, a pipe positioning system that operates autonomously using direct and inverse kinematics to reduce the number of people involved in the working process to carry out the same job. The function of the system is to pick up a horizontal tube and place it at the required point in a vertical position or with up to a 45° inclination with a 4 degrees of freedom (DOFs) robotic arm. The implementation was made with servo motors, and the parts were printed in 3D using PLA. The coordinates of the arm positions were obtained through simulations carried out in Python code, which were compared with the resulting coordinates of the prototype implementation. After that, an accuracy of 96.29% and an average operation time of 16.21 seconds were obtained in the tests carried out with the prototype, demonstrating the effectiveness of the implemented system.

KW - automation

KW - kinematics

KW - pipe positioner

KW - raise boring

KW - raspberry pi

KW - servomotor

UR - https://www.scopus.com/pages/publications/85172305362

M3 - Contribución a la conferencia

AN - SCOPUS:85172305362

T3 - Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology

BT - Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology

A2 - Larrondo Petrie, Maria M.

A2 - Texier, Jose

A2 - Matta, Rodolfo Andres Rivas

PB - Latin American and Caribbean Consortium of Engineering Institutions

T2 - 21st LACCEI International Multi-Conference for Engineering, Education and Technology, LACCEI 2023

Y2 - 19 July 2023 through 21 July 2023

ER -

Franco G, Jauregui O, Vinces L, Oliden J. An implementation of a system that emulates the operation of a pipe positioning arm for Raise Boring application. In Larrondo Petrie MM, Texier J, Matta RAR, editors, Proceedings of the 21st LACCEI International Multi-Conference for Engineering, Education and Technology: Leadership in Education and Innovation in Engineering in the Framework of Global Transformations: Integration and Alliances for Integral Development, LACCEI 2023. Latin American and Caribbean Consortium of Engineering Institutions. 2023. (Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology).

An implementation of a system that emulates the operation of a pipe positioning arm for Raise Boring application

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Keywords

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