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By Jo Katembo, Patty Bwando, Patient K. Ilunga, Yves Kalubi, Emman Mulaj

"From 2010, the dolomite concentration in the ore fed to the Usoke Plant increased, resulting in a significant increase in the gangue acid consumption and Mg build-up in the circuit, and thus an increase in the Mg:Co ratio in the plant solutions. This affected the Co salt grade, reagent consumption, filtration and drying capacity. Efforts were put in place to minimise the acid consumption and consequently the Mg dissolution (such as use of pre-diluted acid), but the benefits were negligible. Various efforts were then initiated by CHEMAF to improve the cobalt plant productivity (quantity and quality) by process changes, dual precipitation and seed recycle. The positive results obtained in the laboratory were successfully implemented on plant scale. A change in the process from a single-stage precipitation with Na2CO3 to dual precipitation using a combination of Na2CO3 and NaOH improved the capacity of the Co salt filtration by 30%, the Co salt grade and drying capacity by 50%, and reduced the reagent consumption by 22%. Implementation of precipitate seed recycle increased Mg rejection by 40%, improving the Co salt grade from 20% to 25%, and yielding a further drop in reagent consumption. INTRODUCTION CHEMAF (Chemicals of Africa), a mining company located in Katanga province of Democratic Republic of Congo (DRC), has been operating since 2003. The Usoke hydrometallurgical plant treats the Cu-Co ore from the Etoile pit to produce Cu cathodes via a leach–solvent-extraction (SX)–electrowinning (EW) circuit and Co salt via a selective precipitation process. The plant was designed to treat run-of-mine (ROM) ore grading 6% Cu and 1.5% Co; but, in 2008, due to a decline in grades, a heavy-media separation (HMS) plant was commissioned to enrich the low-grade ROM (3.5% Cu and 0.5% Co) up to 8% Cu and 1% Co before feeding it to the hydrometallurgical plant. Co is recovered by precipitation of Fe and Al with limestone, followed by Co precipitation as Co carbonate using sodium carbonate (Na2CO3), also known as soda ash. 85% of the final effluent from cobalt precipitation is recycled back to the plant as process water; the balance, 15%, is bled out and compensated for by fresh water top up to control and retard the rate of sodium sulfate build up."

Jan 1, 2015

By C. Yi, M. Onifade, B. Genc, S. Dineva, T. Zvarivadza, M. Khandelwal

Deep hardrock mines worldwide increasingly face rockbursts as mining depths increase. These events result from the accumulation and sudden release of stress, causing rockmass damage and posing major safety and operational challenges. This paper focuses on destress blasting as a critical strategy to mitigate rockburst hazards. Although limited practical experience exists in Swedish deep hardrock mines, international case studies demonstrate that, when well implemented, destress blasting redistributes peak stresses by promoting controlled fracturing around mining excavations. The success of such techniques is highly dependent on site-specific factors such as stress regime, rockmass brittleness, structural geology, and blast layout. Although destress blasting is especially effective in massive, brittle rock under high stress, typical conditions for strainburst prone environments, its design cannot rely solely on numerical models. Simulations can offer preliminary evaluation of stress redistribution trends and guide early design assessments but their current limitations, including sensitivity to input data and simplified fracture mechanics, mean they are best used as supplementary tools rather than final decision-makers. Field trials, supported by microseismic analysis and fracture mapping, remain essential for validation. The study critically synthesises international experiences and presents a structured framework for destress blasting design, offering practical and academic perspectives aligned with Swedish geological conditions to support safer and more efficient application in deep hardrock mines.

Jun 27, 2025

By J. W. van der Merwe, A. S. Bolokang, M. J. Phasha, V. J. Matjeke, C. Moopanar

"Excessive wear rates on railway wheels can result in rolling-stock derailments. If wear is detected early the possible derailments can be prevented by prematurely replacing wheelsets, although the inventory cost and maintenance downtime remain a challenge. In the current study, wheels were introduced and monitored in-service for two years to investigate the cause of excessive wear rates. The wear rates and stresses were calculated for the wheels suitable for a maximum load of 26 t per axle. Microstructural and mechanical properties were analysed. As expected, the general microstructure of all the wheels tested was pearlitic. Although all the wheels complied with the tensile strength requirements, stress calculations confirmed material distortion on excessively worn wheels whereas trial wheels revealed yield strength exceeding the yield criterion. High wear rates observed on the wheels were a result of low yield strength relative to the load per axle. The typical wear mechanism found was due to a combination of rolling contact fatigue and abrasive brake wear. Despite compliance of the wheels with existing requirements regarding material and mechanical properties (hardness, ultimate tensile strength), it is recommended that the yield strength must also be taken into consideration as a critical parameter.IntroductionRailway wheels are used to support the wagon mass and guide the wagon along the tracks (Park, 1974). The wheels and rails must be able to tolerate the applied tangential forces in order to effect wagon dynamic performance and reduce material deformation (Ghidini et al., 1994; RSE_TE_SPC_0045, 2011; AAR M107/M 208 Specification, 2011. Over the past ten years, the South African coal wagon maintenance depot has experienced excessive hollow wheel wear rates on the heavy haul line wheels. The maximum load of Jumbo wagons on the coal line is 104 t, or 26 t per axle. Although the maintenance intervention cycle for wheelsets was two years, between February 2011 and August 2012 some wheels experienced excessive hollow wear. Hollow wear is regarded as wear exceeding 2 mm on the central portion of the wheel tread (RSE_TE_SPC_0045, 2011). This happened despite the fact that these wheels were manufactured and certified according to the requirements of AAR M107/208 standard for carbon steel wheels (AAR M107/M 208 Specification,. 2011) and the local wheel RS/ME/SP 021 standard specification (RS / ME / SP / 021 REV 5 (2013). The AAR standard only specifies a minimum hardness as a required mechanical property and the local standard specifies hardness and minimum tensile strength only. In general, an increase in hardness will improve the rolling/sliding wear resistance of steel. This relationship of hardness and wear resistance was found to be true only in a situation where solid and similar alloys are in contact (Singh, Khatirkar and Sapate, 2015). The sliding wear resistance of a material is usually estimated using Archard’s equation (Liu and Li, 2001)."

Jan 1, 2016

By S. Burks

This paper develops the themes explored by the authors at the Fourth International Platinum Conference,. Optimization techniques can be used to significantly increase the value of mining businesses by enabling better long-term planning decisions. Open pit and underground mine design, mine scheduling, cut-off grade and blending, stockpiling, and the linking of these to flexible elements of the metallurgical recovery processes are all evaluated together. Transport or sale of intermediate products and the requirements of the product metal markets can also be considered. Experience shows that net present value (NPV) can potentially be increased by 5-35 per cent or more, usually even before the expenditure of significant amounts of project capital. The case studies presented include: > An existing operation with multiple open pits and PGM concentrators linked to offsite downstream processing facilities, and with infrastructure constraints for which the scheduling of current operations and the potential for expansion were investigated > An existing operation with an integrated portfolio of mines, concentrators, smelter, and refinery, for which the various possible sources of ore for processing were prioritized to match the downstream process plant constraints and the product markets > An underground operation in Zimbabwe for which the optimum mining width was calculated and expansion plans were evaluated > An underground mine with many separate mining sections, for which a revised schedule was developed aiming to keep the shaft system and processing plant at capacity with the highest net value material available at any time throughout the life of mine. In the concluding section of the paper, a few brief notes are included suggesting how the strategic recommendations from enterprise optimization studies may be implemented by the owner's team.

Jan 1, 2013

By R. Drummond

The fourth Teetered Bed Separator (TBS) has just been installed in Australia, and trials have been run in many sites. There is a growing recognition of the potential advantages of using TBS technology to treat coal in the ?3+0.25 mm size range, at cut points below 1.60. From these activities, there has been a substantial growth in knowledge with respect to application engineering and operational functions. The paper briefly describes the installations, including flowsheets, and so provides a background to the potential deployment of TBS technology. There are a large number of potential applications for TBS technology, including treatment of fine ROM coal in new plants, or in upgrade situations for re-processing of spiral product, or scavenging coal from coarse tailings. As well, cost effective capacity upgrades are possible by using TBS units for treating the sands size fraction. Issues arising from Australian TBS installations and application engineering are also discussed.

Jan 1, 2002

By J. N. Van der Merwe, D. P. Roberts

The two components of pillar design formula being used in South Africa are pillar strength and pillar load. While considerable effort has been directed to the determination of pillar strength, the other half of the safety factor equation, the load, has not received the same amount of attention. The load acting on pillars has always been calculated using the Tributary Area Theory (TAT). This paper summarises the recent studies on coal pillar loading using various numerical models. It concludes that although there are meaningful differences under certain circumstances, there is still a compelling argument to use the TAT in coal pillar design. Les deux parties composantes de la formule de conception de pilier généralement utilisée en Afrique du Sud sont la résistance de pilier et la charge de pilier. Tandis que des efforts considérables on été dirigés vers la détermination de la résistance de pilier, l’autre moitié du facteur de sécurité n’a pas reçu la même attention. La charge agissant sur les piliers a toujours été calculée avec la Théorie d’Aire Tributaire (TAT). L’étude présente résume les études récentes sur la charge de pilier de charbon utilisant des modèles numériques variés. La conclusion est que bien qu’il y ait des différences significatives selon les circonstances, il y a toujours un argument puissant pour utiliser le TAT dans la conception de pilier de charbon. Die in Südafrika für die Auslegung von Pfeilern verwendeten zwei Formelkomponenten sind Pfeilerstärke und Pfeilerbelastung. Während beträchtlicher Aufwand zur Bestimmung der Pfeilerstärke gemacht wurde, wurde der anderen Hälfte der Sicherheitsfaktorsgleichung nicht die gleiche Aufmerksamkeit gewidmet. Die auf die Pfeiler wirkende Last wurde immer unter Verwendung der Tributary Area Theory (TAT) berechnet. Diese Arbeit fast neuere Studien betreffend der Belastung von Kohlepfeilern unter Verwendung verschiedener numerischer Modelle zusammen. Die Schlussfolderung ist, daß obwohl unter bestimmten Vorraussetzungen bedeutende Unterschiede existieren, nach wie vor ein bezwingendes Argument besteht TAT in der Kohlepfeilerauslegung zu verwenden.

Jan 1, 2003

The key aspects of process metallurgy that distinguish platinum group metal (PGM) concentrate smelting from that of other base metal sulphide concentrates are presented. These differences include considerably higher input chrome and magnesia contents that directly raise the slag liquidus temperature and have the potential to increase accumulations of refractory spinels. Most importantly, the higher processing temperature required for PGM smelting, and the resulting very high matte superheat lead to considerably more onerous smelting conditions than those typical of other smelting operations. This has presented challenges to furnace design and integrity, especially when coupled with the progressive intensification of smelting, involving doubling, and then redoubling, of furnace power input over the past 20 years. These power increases have been enabled by increasingly more advanced furnace cooling and structural technologies. Key technologies include strong constant-force spring-loaded bindings acting in three dimensions to minimize infiltration of superheated matte into brick joints, and robust well-cooled tapholes for reliably tapping the superheated matte. The result has been substantially improved productivity, and reduced smelting capital cost outlay per unit of production. A significant challenge that was not anticipated, presented itself in the form of insidious corrosion of the furnace lining, and especially high-intensity copper cooling elements. Investigation of corrosion in related industries eventually identified 'chloride-accelerated sulphidation', and this term has been retained as it generically describes the most pertinent aspects of the accelerated low-temperature wear of copper coolers observed in PGM smelting. In addition to discussing the corrosion mechanism, this paper describes a number of solutions that were developed jointly by Anglo American Platinum and Hatch to address the copper corrosion problem. First, new monitoring technologies allowed furnaces to be operated more safely for a longer period of time. Second, a system for replacing corroded coolers from outside the furnace during a fast 'hot' shutdown minimized the impact on furnace operating factor and hearth life. Finally, a corrosion-resistant graphite-protected cooler design significantly improved furnace campaign life, and heralds a more lasting solution to cooler corrosion in PGM furnaces.

Jan 1, 2012

By S. Heukelman

Zinc or, a zinc refinery in South Africa, uses oxygen enrichment of up to 26% O2 in its fluidizing air to increase concentrate-throughput in its fluidized bed roasters. The aim of the study is to determine whether O2 enrichment can be reduced by introducing micro-pelletized concentrate into the feed blend, while maintaining concentrate throughput rates and calcine quality. A laboratory scale fluidized roaster was used to determine the strength and oxidation kinetics of suitable micro-pellets. The strength of the pellets was determined by the extent of attrition during roasting. It was found that micro-pelletization decreases the fines in the feed to the roasters; the ?500 µm fraction decreased from 87% to 10%. The micro-pelletized particles do break down during roasting, which increases the -500 µm fraction to 31%. The general morphologies of the roasted particles are similar to those found by previous workers. Micro-pelletized concentrate particles require more time than non-pelletized concentrate particles to oxidize in the roasting step, although this is less than the mean residence time of the Zincor roasters. Roasting micro-pellets in O2-enriched fluidizing air increased the reaction rate.

Jan 1, 2011

By H Möller

The purpose of this paper is to give an overview of the corrosion behaviour of steel in seawater. It is shown that the corrosion products (oxy-hydroxides and calcareous deposits) that are formed during corrosion in seawater have a significant effect on the corrosion behaviour of steel. The chemical composition of the steel determines how protective the oxy-hydroxide corrosion product is. The composition of the seawater influences the nature of the calcareous deposits. This needs to be considered when artificial solutions are used to simulate the corrosion behaviour of steel in seawater. A 3.5% NaCl solution is used frequently for this purpose, but because no calcareous deposits can be formed in this solution, erroneous results in terms of corrosion rates are obtained. The more complex ASTM D1141 artificial solution can be used to include the effects of ions other than Na+ and Cl- in synthetic seawaters. The importance of these other ions on the formation of calcareous deposits is discussed. Keywords: Steel, corrosion, seawater, calcareous deposits, oxy-hydroxides

Jan 1, 2006

By David Brown, Dirk van Dyk

Horizontal rotating mills are being used all over the world associated with different mineral and power generation industries. David Brown South Africa, with over 140 years of experience in gear manufacture and design, has been supplying these industries with innovative designs at exceptional quality. The gearing systems associated with these industries are challenged daily with operating conditions with are not always fully understood. Failures are therefore experienced, over time in the industry, which can therefore not always be fully explained. David Brown South Africa has developed a gear monitoring system, the Intelligent Gearing System, in association with Transmission Dynamics (UK), in order to monitor and analyze these operating conditions in real time. The system has been designed on the principles of Six Sigma, incorporating Design for Six Sigma. The purpose with this system design is to monitor the operating conditions on the pinion, record the information and analyze the data in relation to the rate of fatigue damage to the girth gear and pinion. This is done in real time and unattended. The output from the Intelligent Gearing System can be fed back into the operating system of the mill user, in order to display an alarm for operating conditions exceeding the design criteria as well as information on the rate of fatigue damage due to these operating conditions. When the mill operating conditions are better understood, and the effect on the fatigue life of the mill gearing components, mill users can forecast critical spare holding levels with an increased accuracy. The Intelligent Gearing System also allows early actions to remove reasons for system overloads.

Jan 1, 2007

By S. L. Chen

Keywords: copper, concentrate drying, steam dryer, dryers By placing additional demands on energy and gas flow, the moisture content of a copper concentrate has an adverse effect on the smelting process. Different drying technologies, such as directly heated rotary dryers, flash dryers, and steam dryers, are available to solve this problem. The energy requirements of and off-gas generated from different dryer types are compared. The performance of the steam dryer was found to be superior to that of the others. In particular, the rotary steam dryer and its benefits are discussed. Structural properties confer an advantage on the rotary steam dryer, for wear on tube elements is eliminated, and drying efficiency is improved. If steam is available, the rotary steam dryer is an excellent choice for drying copper concentrates.

Jan 1, 2006

By Z. Saw, C. Poveda, N. L. Mai

Optimising the throughput of a mining network comprising all equipment from shovels to semi-autogenous grinding (SAG) mills is a complicated task, yet the potential benefits can be significant. Key modelling challenges stem from the sheer number of possible routes which material can travel, different equipment operating under different constraints, and the rate of SAG mills being calculated through a nonlinear function of the blended materials’ rock attributes. Nevertheless, this is an ideal onapplication area of mathematical programming, a branch of operations research. This paper describes an application of mixed integer linear programming (MILP) to optimise the mining equipment network of one of the world’s largest copper mines.The model takes as input a year-long monthly mine schedule of shovels in different pits, pushbacks, sequences and faces which produce material to be moved through a network of crushers, conveyors, silos, distributors, stockpiles and SAG mills, ultimately outputting a daily operational plan for all equipment that maximises the throughput of the network. All operational constraints and business rules are considered, including three quality attributes of copper ore. Comparing model results with actual data shows an improvement of 4.47% in network throughput tonnage. Additionally, although the model is solved using a free, open-source solver, optimal solutions are still achieved within a practical timeframe.

Sep 1, 2021

By S. Pule, Z. Ndabezimbi, A. Hefer, E. Cupido

This article outlines various projects implemented at Rand Refinery to reduce effluent generation and freshwater consumption. The refinery generates about 2800 m³ of effluent annually and has initiated projects such as granulation water recycle and silver leach optimisation to address these issues. The granulation water recycle project has successfully reduced effluent volumes, while the silver leach optimisation has further decreased effluent by implementing stoichiometric addition of HCl and NaClO3. The vibratory shear enhanced processing (VSEP) trial showed promising results for gold recovery from wastewater, though further trials are recommended. The water savings of the effluent reduction projects are monitored by measuring the amount of effluent pumped to service yard effluent storage facilities with the use of flow meters connected on SCADA. Since the effluent reduction initiative of granulation effluent recycle in FY23, the effluent reduced to 2676 m³. In FY24, the stoichiometric addition of HCl and NaClO3 was implemented in the silver leach process, further reducing the effluent to 2083 m³.

Mar 5, 2025

By F. Rwere, A. Masasire, P. Dzomba, M. Mupa

Accurate determination of platinum group metals (PGMs) and gold (Au) has always proven to be a difficult task, due to their low concentrations in platiniferous ores. The most common preconcentration technique used in analysis of these metals is fire assay with a flux containing nickel or lead. This technique can be improved by using co-collectors. Here we hypothesise that Fe, Co, and Cu can be used as co-collectors to enhance separation and preconcentration of PMGs and gold by fire assay. To test this hypothesis, geological exploration samples from Siyanda Union Mine (Northam, South Africa) were analysed by an inductively coupled plasma-optical emission spectrometer (ICP-OES) for PGMs (Pt, Pd, and Rh) and Au. A control sample (certified reference material AMIS 0426) was also analysed by the same technique. The PGM and Au recoveries from the control sample ranged from 83% to 105% for all three co-collectors, with relative standard deviations less than 10% for the control sample and 7% for the geological samples. The PGM and Au recoveries by Fe and Co co-collectors were modestly higher than that of the Cu-collector. These results indicate that Fe and Co are better co-collectors than Cu, presumably due to the loss of analyte when using Cu. Taken together, Fe and Co co-collectors can be viable alternatives for analysis of PGMs and gold using the fire assay method.

Jan 2, 2022

The optimum cut-off grade policy maximizes the net present value (NPV) of an open pit mining operation subject to the mining, processing, and refining capacity constraints. The traditional approaches to cut-off grade determination ignore the escalation of the economic parameters such as metal price and operating costs during life of an operation, and consequently lead to unrealistically higher values of the objective function. Further, the NPV of a mining operation declines due to the depletion of the available reserves, causing a decline in the optimum cut-off grade, i.e. higher cut-off grades in the early years of an operation and lower cut-off grades during the later years. Hence, low grade material mined in the earlier years may be stockpiled for processing during later years to offset the effect of escalating economic parameters on NPV. This paper demonstrates the combined impact of introducing economic parameters, escalation and stockpiling options into the cut-off grade optimization model. The model promises an enhancement in NPV as illustrated in a case study incorporating practical aspects of an open pit mining operation.

Jan 1, 2011

By L. Andrews

Mineralogy, traditionally associated with concentrator studies, is being increasingly applied to problems in pyrometallurgy. Such investigations commonly make use of a number of techniques, and the results are combined for a meaningful interpretation, which can lead to a successful solution for the problem. Mineralogical techniques are described for various pyrometallurgical operations. Examples are given of studies and investigations involving mineralogy in chemical-looping combustion, feed monitoring to platinum-smelting furnaces, and losses to slag in base metal and platinum smelting.

Jan 1, 2011

By J. Sikamo, A. Mwanza, C. Mweemba

"The Zambian copper mining industry as we know it today had its genesis in the 1920s. Consistent private sector-driven investment in the industry over a period of over 50 years in exploration, mine development and operation, development of minerals processing facilities, building of infrastructure for pyrometallurgical and hydrometallurgical processing, with attendant support facilities, including building of whole new towns, resulted in copper production rising to a peak of 769 000 t in 1969, providingover 62 000 direct jobs. The industry was nationalized in 1973 and remained in government hands for just over 24 years. During this period, the industry experienced a serious decline in production levels, reaching the lowest level in the year 2000 when production was 250 000 t. An average of just under 2000 jobs were lost every year in the 24-year period, reaching just over 22 000 direct jobs in 2000.Following the return of Zambian politics to pluralism and liberalized economic policies, the government decided to privatize the mining industry. The process started in 1996 and by the year 2000 all the mining assets had been privatized. The new investors embarked on serious investment to upgrade the assets and to develop greenfield mining projects. Fourteen years later and after more than US$12 billion investment, production levels increased year-on-year to a peak of 763 000 t in 2013 with direct jobs reaching 90 000.This paper discusses the impact of the mining industry in Zambia on the economy in areas such as employment, support for other industries, direct contribution to the national gross domestic product (GDP), foreign exchange earnings, and social amenities. The paper also focuses on the performance of the mines during these periods vis-à-vis mineral availability, mineral grades and complexity, new technologies, and human capital. This is looked at particularly in the light of current challenges the industry is facing. Suggestions are proposed on how the industry can be nurtured to continue being a major driver for the Zambian economy and a major player in the international copper mining business."

Jan 1, 2016

By W. Wittke

SUMMARY: Geotechnical problems often lead to an increase of construction time and costs for large highway and railway projects. Some reasons, which have led to failures and thus to a delay of construction works as well as to increasing costs, are demonstrated by means of case histories, in which the author was involved as expert or planner. Proposals are made how to identify the reasons and to avoid repetitions. ZUSAMMENFASSUNG: Bei Großprojekten der Verkehrsinfrastruktur stehen häufig geotechnische Aufgabenstellungen im Vordergrund. Wegen geotechnischer Probleme kam und kommt es häufig zu Termin- und Kostenüberschreitungen. Anhand einiger Beispiele, bei denen der Autor als Gutachter und Planer beteiligt war, wird gezeigt, welche Ursachen zu Schadensfällen und damit auch zu Termin- und Kostenüberschreitungen geführt haben. Es werden Hinweise und Anregungen gegeben, wie die Ursachen erkannt und Wiederholungen von Schadensfällen vermieden werden können. RÉSUMÉ: À grands projets de l'infrastructure de la circulation, souvent des tâches géotechniques sont au premier plan. Par suite de problèmes géotechniques, souvent des dates et frais ont été dépassés. Au moyen de quelques exemples, à lesquels l'auteur participait comme expert et planificateur, les causes sont mises en vue qui menaient à des cas de dommage et par cela aussi à des dépassements de dates et frais. Des indications et suggestions sont données pour s'apercevoir des causes et éviter des répétitions de cas de dommages.

Jan 1, 2003

By B. Simser

At Brunswick Mine, an increase in the number of seismically-related falls of ground and in particular rockbursts occurred during 1999. This was due to the ever-increasing stress levels in the remaining ore reserves, mining in difficult highly stressed areas and in particular troublesome geological features. In conjunction with the Noranda Technology Centre, development of rockburst support systems started at the Brunswick Mine in 1996 and efforts were accelerated in 1999. A support package consisting of #6 gauge chain link mesh, #0 gauge heavy mesh straps, and a 1 m by 1 m pattern of modified conebolts was developed. The conebolts were modified to enable mixing of the resin anchoring. Two major rockbursts occurred during an intense seismic episode at the Brunswick Mine from October 13th to 17th , 2000.The area was evacuated approximately four hours before the first burst hit, and remained closed during the seismic ?flurry??. The first damaging activity occurred around midnight on Friday the 13th, and a second damaging episode occurred on the 17th that included a local Richter Magnitude 2.7 event. The second rockburst had dimensions of approximately 5 m by 5 m by 20 m or 2150 tonnes of massive sulphide material (density 4300 kg/m3). The first failure area was more extensive, caving approximately six metres of an intersection back with the lateral extent not safely measurable. This paper briefly describes the mining conditions that led to the bursting, the seismic response of the region, the mechanisms thought to have caused the bursts, and a yielding support system which had been partially installed before the burst.

Jan 1, 2002

By M. Salimov, J. Sattarvand

The conventional visualisation method of remote equipment is through the installation of one or more cameras on the machine, and sending a live feed to the operator’s flat display. However, the performance of the teleoperation can be enhanced using better visualisation through virtual reality (VR). This paper presents the process of the design and manufacturing of a robotic platform that will be used in the next phase of the project for a VR-assisted teleoperated excavator. The robot consists of a loading boom and arm arrangement installed on the undercarriage of a CAT300-9D. All hydraulic cylinders are replaced with electric actuators, and crawling motors are substituted by electric motors. The pieces of the boom and the arm, as well as the bucket were designed in Autodesk Inventor, and manufactured from aluminium sheets using a desktop and CNC machine. Parts are joined by pins and welding as needed. An Arduino-based control system is developed for the robot, and motor controllers are used to convert the power commands from the microcontroller to the high-amperage actuators. The control system is capable of communicating with a wireless Play Station controller to operate remotely. The manufactured robotic excavator is planned to be utilised in multiple autonomy research projects.

Sep 1, 2021