Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
Ceiling is suitable location for robots to transport loads because Automated Guided Vehicle(AGV) and humans do not interfere. In a previous study, a ceiling mobile robot called HanGrawler 2 has been developed. It can travel at a high speed of 1.0 m/s to compete with ground vehicles. However, it sometimes fells at a high speed traveling. The purpose of this study is to improve the reliability of starting, accelerating, and traveling at high speed. Optical motion capture is used to observe crawler’s behavior of HanGrawler 2. The Observation of crawler’s behavior reveals that the crawler moves on an inflated trajectory at the high speed movement. In addition, the experiment results show that the collision is not caused by inflation, but by the push-in timing. Reliability of high-speed traveling was improved by installing an encoder and optimizing the push-in timing.
