Fig 1.
Waste pit and leachate grid in a waste-to-energy plant.
(a) Waste Storage Pit, (b) Leachate Grid.
Fig 2.
(a) Grid with Normal Fluid Passage, (b) Clogged Grid.
Table 1.
Comparison of existing leachate grid cleaning devices.
Fig 3.
Leachate corridor structure in a waste incineration plant.
Fig 4.
Overall structure of the cleaning robot.
(a) Overall Structure, (b) Schematic Diagram.
Fig 5.
Mobile base structure of the cleaning robot.
Fig 6.
Error caused by gravity.
Fig 7.
Gravity compensation principle for the cleaning robot operating near a grid crevice.
Fig 8.
Torsional deformation error analysis for the cleaning robot.
Fig 9.
Deformation error caused by self-weight.
(a) Effect on pose. (b) Error variation with position.
Fig 10.
Gravity analysis parameters for the cleaning robot.
Table 2.
Joint reducer stiffness parameters.
Table 3.
Gravity analysis parameters (Lengths, Angles, Torque).
Table 4.
Gravity values for components.
Table 5.
Joint motion parameters.
Table 6.
Directional errors before and after gravity compensation.
Fig 11.
Gravitational torque variation with pose.
(a) Joint 2 (b) Joint 3.
Fig 12.
Trajectory from point B to point C.
Fig 13.
End-effector position error.
Table 7.
Sensitivity of compensated positioning error to parameter uncertainty.
Table 8.
Positioning errors under dynamic perturbation and reaction force scenarios.