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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design of Window-Cleaning Robotic Manipulator With Compliant Adaptation Capability
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Design of Window-Cleaning Robotic Manipulator With Compliant Adaptation Capability

机译：窗口清洁机器人机械手设计，具有柔顺的适应能力

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摘要

The number of high-rise buildings is increasing worldwide, and the demand for window maintenance and cleaning has increased accordingly. However, there is an increased desire to substitute robots with human workers because of the occurrence of many accidents. Although many window-cleaning robots have been developed, almost all the robots cannot passively pass obstacles on the outer walls of buildings. In this article, a window-cleaning robot is provided with compliant adaptation capabilities by adding series elastic actuators and tristar wheels to an older window-cleaning robot. This robot has a two-degree-of-freedom manipulator, and the robot can passively overcome obstacles without any need for control. An optimization is performed for the manipulator, and the experiments are performed with the manipulator to compare the respective abilities to overcome the obstacles using parameters before and after the optimization. In addition, a cleaning module is constructed by scaling down the previous model. The performance of the downscaled cleaning module is validated using a window-cleaning experiment.
机译：高层建筑数量正在全球范围内增加，窗口维护和清洁需求相应增加。然而，由于许多事故发生，增加了用人工替换机器人的愿望。虽然已经开发出许多窗户清洁机器人，但几乎所有机器人都无法被动地传递在建筑物外墙上的障碍物。在本文中，通过向旧的窗口清洁机器人添加串联弹性执行器和三射轮轮，提供窗户清洁机器人具有柔顺的适配功能。该机器人具有两级自由度的机械手，机器人可以被动地克服障碍而无需控制任何控制。对操纵器执行优化，并且使用操纵器执行实验，以比较优化前后参数克服障碍物的各个能力。此外，通过缩小先前的模型来构造清洁模块。使用窗口清洁实验验证了较副安装的清洁模块的性能。

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