Research codes and standards that must be met for cleaning robotic devices. Identify any applicable constraints and the application of these constraints.
When cleaning robotic devices certain standards must be met to avoid injuries.
Interlocked barrier guard
It is a physical barrier having gates with interlocks and located around work envelope. The interlocks are designed to stop machine operations and related machinery after opening of any gate. Operations are restarted after the gate has been closed and the control switch activated far from the barrier. The interlocked fence either denies access through the fence, over, around or under after the gate is closed.
Fixed barrier guard
The fence demands removal tools. It denies access under, over, through and around the fence. It offers enough clearance to the worker between guards and reaching to the robot. Parts held by end-effector do specified works in controlled conditions.
Awareness barrier device
Examples include low railing devices and suspended chain that marks safety perimeter that prevents in advert entry to work place. Workers can climb over it, crawl under it and step on it. The device is only acceptable in areas where hazards are analyzed and there are no feasible fixed and interlocked barriers. Interlocked and fixed barrier guards offer protection to exposure of harzrds from robotic systems.
Presence sensing devices
Pressure mats and light curtains are among detectors used to promote robotic safety. They are used to detect people stepping in hazard position near robots.
Emergency Robot braking
Dynamic braking system arrest dangerous movements of robots other than cutting power supply. The brakes counteract effects of inertia from robot arms. It avoids hazards that result from sudden power cutting like dropping of robots arms (United States department of labor 1).
Identify any applicable constraints and the application of these constraints.
Cleaning devices are overcome by constraints such as lifetime, cleaning heads, power sources, assembly time, and water spots as it dries. Cleaning devices like Photovoltaic panel array are in use in the world. It has a lifetime of approximately 25 years. Since it uses solar energy, it maximizes its potential for generating power during the day. Its overuse concentrates dust particles and debris on its photovoltaic (PV) panels, which later affects its performance similar to working on cloud days (Westates Technology 1). Dirt and clouds block sun and reduces generated energy. Environments that are Arid and dusty are most affected. A solution to this problem is necessary to service larger arrays of 22,000 panels.
A photovoltaic cell can be use to convert solar energy into electricity through flow of electrons between semiconductor layers. Maximum operation that reduces loss of energy requires clean panels to permit electrons to enter. PV cleaner robot V1.0 is a robot cleaner for photovoltaic panels. It has a cleaning head that move over panels with its equipment for water and power supply connected through a cord that is positioned in an adjacent vehicle. Its cleaning head is vertically driven by cables and horizontally drive by motorized pair of trolleys that ride along the bottom and top edges of array panels. There is a modular design that permits fast assembly and disassembly of this device. It is cleaning and drive ensures that the device lasts for long since it does not mark its glass surface with wheel skid marks and damaging scratches.
Moreover, the constraint is accommodated using softer wheels on its cleaning head and connected to cleaning bristles that are made of natural nylon that is thin. Spots of water and residues as the panel dries are eliminated through fitting the water line to use water that I de-ionized Anderson et al. 1-3).
Anderson,Mark,Grandy,Ashton,Hastie,Jeremy,Sweezey,Andrew,Ranky,Richard,Mavroids,Constrantinos, Markopoulos, Yiannis. “ robotic device for cleaning photovoltaic panel arrays’, CLAWAR: 2009, 1-11.
United States department of labor. (2015). Occupational safety and health administration. Web https://www.osha.gov/pls/oshaweb/owadisp.show_document?p_table=DIRECTIVES&p_id=1703
Westates Technology.(2012). Advanced Robotic tank cleaning solutions. Web http://www.alltankcleaning.com/