Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 36, Issue 4, Pages 1053-1066Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2020.2973100
Keywords
Ceiling mobile robot; logistics; mechanical hanging mechanism design; perforated metal
Categories
Funding
- Univ. of Tokyo GAP Foundation Program
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In this article, we present a ceiling-mounted mobile robot, HanGrawler, with high-speed mobility and the ability to freely select and adjust its route under a ceiling plate. HanGrawler hangs from the holes of a perforated metal ceiling plate using newly developed mechanically constrained hanging mechanisms mounted on crawler-type traveling equipment. These mechanisms continuously grasp the ceiling holes while moving in a straight line. Specially designed turntables are installed at certain ceiling points to change the HanGrawler movement direction to facilitate two-dimensional motion. A performance evaluation experiment confirms that HanGrawler can travel linearly at 0.1 m/s, turn at an 8.5 degrees/s rotational speed, and carry amaximum load of 60 kg. The experiment also reveals that HanGrawler can carry a heavy load only when the timings of the hanging mechanism hooking motions and turntable rotational speed are tuned. This transport system can be utilized not only for part transportation on production lines but also for logistics in general.
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