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
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