机械机器人外文文献英文文献墙壁清理器可实现角落清理的移动装置的方案.docx

机械机器人外文文献英文文献墙壁清理器可实现角落清理的移动装置的方案.docx

《机械机器人外文文献英文文献墙壁清理器可实现角落清理的移动装置的方案.docx》由会员分享，可在线阅读，更多相关《机械机器人外文文献英文文献墙壁清理器可实现角落清理的移动装置的方案.docx（15页珍藏版）》请在冰豆网上搜索。

机械机器人外文文献英文文献墙壁清理器可实现角落清理的移动装置的方案

WallWalker:

ProposalofLocomotion

MechanismCleaningEven

attheCorner

T.Miyakel2andH.Ishiharal

1KagawaUniv.Japan

2MIRAIKIKAIInc.,Japan

Abstract.Thepurposeofthisresearchistodevelopthewindowcleaningrobotforcleaningasinglelargewindowpanesuchasashowwindow.Itrequiresthefollowingdemandstoapplythewindowcleaningrobotforthepracticaluse:

1.Cleanthecornerofwindowbecausefoulingisleftthereoften.

2.Sweepthewindowpanecontinuouslytopreventmakingstripedpatternsonawindowpane.

Thekeysofmechanismsaretherotatabilityofthemobilepartaroundtheotherpartsandthecontinuouslocomotioninordertoachievetheabovepoints.Theformerenablestherobottochangethedirectionwithkeepingitspositionandattitudeatthecornerofwindow.Thelatterisnecessaryforpreventingleavingthestripedpatternonawindowpane.Wedesignedthecontinuousmotionusingtwo-wheellocomotionwithadheringonthewindowpaneusingasuctioncup.

Thesizeofprototypeisabout300mmx300mmx100mmanditsweightisabout2kgwithoutbatteries.Astheresultsofbasicexperimentsoftheprototypeonaverticalsmoothwindowglass,travelingvelocityofgoingupdirectionwas0.08m/s,oneofgoingdowndirectionwas0.14m/sandhorizontaldirectionwas0.11m/s.

Inthispaperthe1stchaptermentionsbackgroundandobjectivesofthisresearch,andalsointroducestheconceptofWallWalker.The2ndchapterdiscussestheadheringandmovingmechanism.The3rdchapterillustratesitsbasicpropertiesbasedontheexperiments.Finally,problemsandfutureworksarediscussedinthe4thchapter.1Introduction

Recently,wehavehadmanyrequestsfortheautomaticcleaningofoutsidesurfaceofbuildings.Somecustomizedwindowcleaningmachineshavealreadybeeninstalledintothepracticaluseinthefieldofbuildingmaintenance.However,almostofthemaremountedonthebuildingfromthebeginningandtheyneedsveryexpensivecosts.Therefore,requirementsforsmall,lightweightandportablewindowcleaningrobotarealsogrowinginthefieldofbuildingmaintenance.

Astheresultsofsurveyingtherequirementsforthewindowcleaningrobotbythefieldresearchwiththecleaningcompanies,thefollowingpointsarenecessaryforprovidingthewindowcleaningrobotforpracticaluse:

1.Itshouldbesmallsizeandlightweightforcarriedbyonepersontoeverywhere.

2.Cleanthecornerofwindowbecausefoulingisleftthereoften.

3.Sweepthewindowpanecontinuouslytopreventmakingstripedpatternonawindowpane.

Thelocomotionmechanismmustbechosentosatisfythesedemands,especiallylatertwosubjects.Herelocomotionmechanismmeansthecombinationofadheringmechanism,travelingmechanismandamechanismforchangingatravelingdirection.

Variousresearchesoflocomotionmechanismsonwallclimbingrobotshavebeenreported[1-5].Howevertheydonotadapttoabovethreepointscompletely.Forexample,climbingrobotbylegged-wallwalkingcannotrealizethecontinuousmovement,andalsoitsturn-abilityislow[6].

Wefocusedontheapplicationofthewindowcleaningrobotonasinglewindowpane.Itisapparentlynecessarytocrossoverthewindowframeorjointlinetouseitatanywindow,butthesinglewindowpaneslikeasashowwindowalsoexistasanimportantapplication.

Accordingtosuchconsiderations,weadoptedthetwo-wheellocomotionmechanismwithadheringbyasuctioncup.Thispapermainlydealswiththismechanismandfunctionsspecializedincleaningthecornerofwindow.

Firstrequirementbroughtthefollowingspecificationsfordesigningthewindowcleaningrobot.

-Weight:

5kg,includingtheweightofbatteryandwashingwater,

-Size:

300mmx300mmX100mm.

Thesearealsodefinedbytheresultsofsurveyingthedemandsfromthecleaningcompanies.

Thispaperproposesthesmall,lightandportablewindowcleaningrobotnamedWallWalker,whicharedesignedtosatisfythemarketdemandsasmentionedabove.Figure1istherenderingatasceneofpracticaluseofWallWalker.TheWallWalkerisadheringonawindowpaneandcleaningasmovingonlargewindows.

Thispaperdiscussestheeffectivenessofproposedlocomotionmechanism.The2ndchapterdiscussesthelocomotionmechanismsandillustratestheprototypefortestingtheproposedlocomotionmechanism.The3rdchapterillustratesitsbasicpropertiesbasedontheexperiments.

Fig.1.Small-sizewindowcleaningrobotonawindow

2LocomotionMechanism

Variousresearchesoflocomotionmechanismsonthewindowcleaningrobotshavebeenreported.Howevertheydonotmeetourspecificationsdefinedbasedon