吊丝机构张力控制及其在浴室清洁机器人上的应用

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545) Pub Date : 2000-07-28 DOI:10.1109/SICE.2000.889669

Y. Takahashi, O. Tsubouchi

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引用次数: 9

摘要

介绍了一种张力控制悬索机构及其在浴室清洁机器人上的应用。采用钢丝悬挂机构设计了一种结构紧凑、体积小的机器人。四根电线将机器人主体悬挂在浴室的四个上角上。通过控制四根电线的长度和张力，机器人可以清洁浴室的墙壁。动力装置和计算机系统放置在与机器人主体分开的地板上。为了清洁墙面，要求机器人主体与地面保持均匀。提出了采用钢丝张力控制的机器人主体调平控制方法。本文提出的张力检测装置采用一种简单的杠杆式机构。实验和仿真结果验证了张力控制的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Tension control of wire suspended mechanism and application to bathroom cleaning robot

A wire suspended mechanism with tension control and its application to a bathroom-cleaning robot are presented. A compact and small size robot is designed using the wire suspended mechanism. Four wires suspend the robot main body from four upper corners of a bathroom. Handling the length and tension of the four wires, the robot cleans the wall of the bathroom. Power unit and computer system are placed on a floor separate from the robot main body. It is required to keep the robot main body even with the floor in order to clean the wall. The leveling control of the robot main body using a wire tension control is proposed. The tension-detecting unit proposed in this paper uses a simple lever type mechanism. The validity of the proposed tension control has been confirmed by the experimental and simulation results.

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来源期刊

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)

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