抄録
This report describes a new self-propelled cleaning robot which cleans floor by a wet rotational brush like a floor polisher. The rotational brush does not only clean floor but also transfer itself. Velocity of the robot is controlled by inclining the rotational axis of the brush. Its moving direction is controlled by direction of the rotational axis and moving speed is controlled by degree of inclination angle of the rotational axis. A cleaning robot which has single rotational brush driven by hydraulic motor and the water passed through the hydraulic motor is used to clean the floor was proposed and designed. Its kinematic model was proposed and its moving characteristics ware theoretically and experimentally investigated.
