期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 27, 期 5, 页码 3265-3274出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2021.3104895
关键词
Facade cleaning robot; coordinate measuring arm (CMA); disturbance compensation; passive compliant structure.
类别
资金
- National Research Foundation of Korea (NRF) [2018M3C1B9088331, 2018M3C1B9088332]
- Ministry of Science and ICT for First-Mover Program for Accelerating Disruptive Technology Development
- Human Resources Program in Energy Technology of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) from the Ministry of Trade, Industry & Energy, Republic of Korea [20204030200100]
- National Research Foundation of Korea [2018M3C1B9088332, 2018M3C1B9088331] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
A compliant parallel structure-based position sensing device is proposed in the study to measure and compensate for lateral disturbances in the movement of a facade cleaning robot equipped with a gondola. Experimental analysis has verified the effective disturbance compensation feature of the proposed mechanism.
Facade cleaning is a dangerous task for human workers. If a facade cleaning robot is equipped with a gondola, it can perform facade cleaning with a simple planar manipulator via the vertical movement of the gondola. To clean a facade using a gondola-embedded robot successfully, the disturbance in the lateral direction of the gondola movement should be measured and compensated. In this study, we propose a compliant parallel structurebased position sensing device to measure the lateral directional disturbances. The compliant structure keeps contacts on the edge of the glass frame during the operation of the gondola and obtains disturbance information from forward kinematics of the joint mechanism. The prototype was produced, and experiments were performed on a test bench designed with a similar facade geometry as that of the target building. The disturbance compensation feature of the proposed mechanism was verified by experimental analysis.
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