Design and Control of a Cleaning Unit for a Novel Wall-Climbing Robot

被引：19
|
作者：
Kim, Taegyun [2 ]
Kim, Jihoon [2 ]
Seo, Kunchan [2 ]
Kim, Hongmin [2 ]
Lee, Giuk [2 ]
Kim, Jongwon [2 ]
Kim, Hwa Soo [1 ]
机构：
[1] Kyonggi Univ, Dept Mech Syst Engn, Suwon, South Korea
[2] Seoul Natl Univ, Sch Mech & Aerosp Engn, Seoul 151, South Korea
来源：
ENGINEERING AND MANUFACTURING TECHNOLOGIES | 2014年 / 541-542卷
关键词：
Cleaning unit; Wall-climbing robot; Impedance control;
D O I：
10.4028/www.scientific.net/AMM.541-542.1092
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents the design and control of a cleaning unit installed on a novel wall-cleaning robot (ROPE RIDE: RObotic Platform Enabling Rope access In Dangerous Environment). The proposed cleaning unit is able to autonomously avoid various obstacles on the wall of a building and also performs cleaning with sufficient contact force. The prototype of a cleaning unit is systematically designed and examined to verify its impedance-controlled cleaning performance.
引用
收藏
页码：1092 / +
页数：2
相关论文
共 50 条
  • [1] The study and application of wall-climbing robot for cleaning
    Wang, Y
    Gag, X
    Zhao, Y
    Xu, D
    PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS, 2000, : 789 - 794
  • [2] Design and Control of an Omnidirectional Mobile Wall-Climbing Robot
    Zhong, Zhengyu
    Xu, Ming
    Xiao, Junhao
    Lu, Huimin
    APPLIED SCIENCES-BASEL, 2021, 11 (22):
  • [3] Design and Analysis of a Novel Wall-Climbing Robot Mechanism
    Dong, Weiguang
    Wang, Hongguang
    Liu, Aihua
    Li, Zhenhui
    MECHATRONICS AND INFORMATION TECHNOLOGY, PTS 1 AND 2, 2012, 2-3 : 346 - 351
  • [4] Dynamic Simulator for Design and Control of a Wall-climbing Robot
    Ioi, Kiyoshi
    Kito, Takashi
    Tanaka, Yoshiki
    2019 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2019, : 40 - 46
  • [5] A simple wall-climbing mechanism for a window cleaning robot
    Soeda, Takafumi
    Okada, Nobuhiro
    Kiguchi, Kazuo
    PROCEEDINGS OF THE EIGHTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 18TH '13), 2013, : 492 - 495
  • [6] Design of a Docking Wall-Climbing Robot
    Liu, Rong
    Liang, Ran
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2013, 10
  • [7] Design of a new wall-climbing robot with a small control system
    2000, Inst Sci Tech Infor China (10):
  • [8] Design and Analysis of a Light Wall-Climbing Robot
    Ke, Zibo
    Zhou, Yulan
    Liu, Jiaguang
    Yu, ZhiQiang
    PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012), 2012, : 3805 - 3809
  • [9] Adaptive Impedance Control of a Cleaning Unit for a Novel Wall-Climbing Mobile Robotic Platform (ROPE RIDE)
    Kim, T.
    Seo, K.
    Kim, J.
    Kim, H. S.
    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2014, : 994 - 999
  • [10] Design of a Six Legged Wall-Climbing Robot
    Guo, Wei
    Zhong, Ming
    Li, Man-tian
    Li, Yang
    2008 IEEE WORKSHOP ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS, 2008, : 106 - 109
12345