Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
Ceiling is considered to be suitable location for robots to transport cargoes because Automated Guided Vehicle(AGV) and people do not interfere with them. In our previous study, we have developed a ceiling mobile robot called HanGrawler 2. HanGrawler 2 can travel at a high speed of 1.0 m/s to compete with ground vehicles as its champion data. However, HanGrawler 2 sometimes fell at the beginning of the traveling. So, the purpose of this study is to improve the traveling stability of HanGrawler 2. There are two technical issues to be solved: 1) HanGrawler 2 cannot start traveling until hanging mechanism is set to specific position, and 2) HanGrawler 2 tends to fail to hang to the ceiling during acceleration. Automatic adjustment of an initial position and new control method of hanging considering in acceleration is added to solve these issues.
