Development of autonomous robotic manipulator for mining application

点击翻译按钮获取中文摘要

In mining exploration operation, it is necessary to find and collect samples. The problem is particularly difficult in extreme environments, e.g., in underground and/or remote locations due the limited communication throughput and high latency. In addition, the drilling operation requires the use of pressure and tension sensors in order to locate along potential blockages in deep core drilling. Usually a great amount of time, material and money is lost when 3000 linear meters of drill rods gets wedged in a drill hole. The sensors could stand independently or be mounted on the rod manipulator in order to locate the problem and to recuperate the most material possible. These are usually required to operate autonomously in remote locations. The objective of this project is to investigate the potential of applying the vision-based autonomous intelligent robotic manipulator technology for on-orbit servicing of spacecraft, developed in the Space Engineering Laboratory in the Department of Earth and Space Science and Engineering of York University, in mining industry. Research will address the in-situ acquisition of materials and scientific sample/data using robotic manipulator arms to satisfy the constraints for identifying, tracking and operating sensing equipment or grasping a wide range of samples with irregular sizes, shapes, textures and different weights autonomously. We will design a new end-effector with vision, force and tactile sensors that will provide the required sensory feedback and actuation capabilities. The success of this project will provide a working prototype of autonomous robotic manipulator for mining exploration. The outcome of this project will enhance the competitiveness of Canadian industry and train two highly qualified personnel in the related field.