洗浄と移動を両立する回転ブラシを複数有する自走洗浄ロボットの開発

抄録

In this report, design of new cleaning robot with light weight, compact, high maneuverability, and high cleaning efficiency is discussed. At first, as the robot with these characteristics, a robot with three brushes whose attitude angle is controlled by an active universal joint is proposed. As one rotational joint composing this universal joint, circular arc slider has been adopted, in order to avoid interference between mechanisms and a floor. Secondly, an experimental apparatus to investigated dynamic characteristics of the rotational brush is designed and fabricated. This apparatus is composed of one rotational brush, a DC motor with planetary gear reducer to rotate the brush, a AC servo motor with timing belt drive mechanism to translate the brush, a 6-axes force sensor to measure forces acting between the brush and floor and attitude angle adjustment mechanism of the brush. Relationships among translational velocity, rotational speed, and attitude angle have been investigated by using this apparatus. Then, based on these experimental results, dynamic model of the brush has been proposed, in order to design and control the cleaning robot. And using this proposed model, a prototype is designed and fabricated. Its size is about 400 mm and similar in size to room cleaning robot on the market. And its mobility and cleaning performance has been investigated.