A Robotic Parallel Platform for Automated Tire Changing of Large Mining Vehicles

Abstract:
This paper presents a novel machine design with a robotic parallel platform for changing tires of large mining trucks. Changing these tires is a frequent service operation and is carried out by a team of 2-10 workers using heavy machinery. This operation has several technical challenges and puts the workers in a hazardous situation. The new robotic machine design introduced here aims at making this operation safer, more stable in terms of quality, and potentially faster. The machine comprises two industrial robots with tools for handling bolts and nuts, and a hydraulic parallel robotic platform which carries the two industrial robots and supports the tire. The scope of this paper is the unique design of the parallel platform. The kinematic equations of motion for the mechanism are presented along with the design process. The design of this mechanism was customized for this tire changing task. A prototype of the mechanism was constructed and tested in a lab setting. The mechanism was able to repeatedly place the wheel accurately on the hub.