Landing Experiment of a Cleaning Robot on a Slanted Solar Panel by Using a Robot Arm for a Drone (RAD)

被引：0

作者：

Kwon D.W. ^{[1
]}

Jung S. ^{[1
]}

机构：

[1] Dept. of Mechatronics Engineering, Chungnam National University

来源：

Transactions of the Korean Institute of Electrical Engineers | 2021年 / 70卷 / 04期

关键词：

cleaning mobile robot; Landing; robot arm for drone; solar panel;

D O I：

10.5370/KIEE.2021.70.4.684

中图分类号：

学科分类号：

摘要：

In this paper, the landing experiment of the Solar Panel Cleaning Robot(Dr.SPC) by a drone is presented. The robot arm for a drone (RAD) is designed to have two degrees-of-freedom to carry the cleaning mobile robot. The end-effector of the arm is equipped with an electromagnet to hold and release the robot electrically. The end-effector of the robot arm also has two ultrasonic sensors to measure the slanted angle of the panel and a camera to see the panel closely. Measuring the slanted angle of a solar panel is used for the arm to tilt the cleaning robot in parallel with the panel to minimize the contact force measured by a force sensor mounted on the first link. A drone is replaced with an x-y table for the planar motion of the arm. Actual landing experiments of Dr. SPC on the panel are conducted to test the feasibility. © 2021 Korean Institute of Electrical Engineers. All rights reserved.

引用

页码：684 / 691

页数：7

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