Publications / 2006 Proceedings of the 23rd ISARC, Tokyo, Japan

Development of Small-Size Window Cleaning Robot by Wall Climbing Mechanism

Tohru Miyake, Hidenori Ishihara, Ryu Shoji, Shunichi Yoshida
Pages 215-220 (2006 Proceedings of the 23rd ISARC, Tokyo, Japan, ISBN 9784990271718, ISSN 2413-5844)
Abstract:

The objective of this research is to develop the small-size and light weight window cleaning robot. The prototype of window cleaning robot has been developed. The dimensions of prototyped robot are approximately 300mm x 300mm x 100mm and its weight is approximately 3 kg. The prototyped robot consists of two independently driven wheels and an active suction cup. The control system which includes traveling direction controller using accelerometer and traveling distance controller using rotary encoder and edge sensors ware installed for autonomous operation. This paper includes background and objectives of this research, prototyped mechanical systems, moving control system, experimental result of basic traveling control and window wiping motion by comparing to with or without of motioned control system, some discussions in each experiment and a conclusion.

Keywords: Climbing robot, window cleaning, wall climbing, attitude control, acceleration sensor