期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 27, 期 4, 页码 1982-1989出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2022.3172689
关键词
Robots; Cleaning; Robot kinematics; Springs; Winches; Kinematics; Robot sensing systems; Cleaning automation; climbing robot; ade cleaning robot
类别
资金
- National Research Foundation of Korea - Ministry of Science and ICT under the First-Mover Program for Accelerating Disruptive Technology Development [NRF-2018M3C1B9088331, NRF-2018M3C1B9088332]
- Bridge Convergence RD Program [NRF-2021M3C1C3096807, NRF2021M3C1C3096808]
This article introduces a novel wall-cleaning robot Edelstro-M2, with the ability to perform both vertical and horizontal movements on walls and without the need for additional infrastructure. Real-world experiments have demonstrated the robot's mobility and cleaning performance.
Cleaning tasks for vertical structures, such as building facades and walls on construction sites, are dangerous; there is a high risk of fall accidents among workers engaged in such tasks. Hence, research on the automation of wall-cleaning tasks based on robotics technology has been actively conducted in recent years. However, existing wall-cleaning robots have limitations, such as poor mobility performance or the need for additional infrastructure for operation. In this article, we designed a novel rope-driven wall-cleaning robot Edelstro-M2 with two innovative characteristics. First, both vertical and horizontal movements on the wall are possible by implementing a dual rope climbing mechanism and parallel kinematics. Second, except for a rope fixing arrangement, additional infrastructure, such as winch and building management unit systems, is not required for operation. A prototype model was developed, and real-world experiments were conducted to verify the mobility and cleaning performance of the robot. In the experiment, the robot was controlled by manual remote control. We plan to study automatic control of the robot in the future works.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据