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首页> 外文会议>ロボティクスシンポジア >Development of Small-Size Climbing Robot for Window Cleaning Development of Window Climbing Mechanism, which Enables to Clean Corners of Square
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Development of Small-Size Climbing Robot for Window Cleaning Development of Window Climbing Mechanism, which Enables to Clean Corners of Square

机译：开发窗攀岩机构窗窗清洗机制的小型攀岩机器人，可以清理广场的角落

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摘要

This paper describes the small-size window cleaning robot that can move on window surface on adhesion by use of suction cup and two driving wheels. In order to clean even at corner of window, the robot can make a right-angled turn at a corner of the window since locomotion mechanisms connected with a frame of the robot includes cleaner via revolute pair. Firstly design concepts of prototype and design conditions are discussed. Next, measured mechanical properties of prototyped suction cup are illustrated. Then statics models on suspension mechanism and suction force are shown Last, experimental results are presented. The velocity of climbing up vertical pane was 0.08[m/s], and the motion was smooth and steady. The test of rotatability of prototype at the corner is also demonstrated.
机译：本文描述了通过使用吸盘和两个驱动轮可以在窗口表面上移动的小窗口清洁机器人。为了清洁窗户的角落，机器人可以在窗口的拐角处形成右侧角度，因为与机器人的框架连接的机器机构包括通过旋转对的清洁器。首先讨论了原型和设计条件的设计概念。接下来，示出了原型抽吸杯的测量力学性能。然后，暂停机构和吸力的静音模型显示，提出了实验结果。爬升垂直窗格的速度为0.08 [m / s]，运动平滑稳定。还证明了拐角处的原型旋转性的测试。

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