로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제5권1호
  • /
  • Pages.14-22
  • /
  • 2010
  • /
  • 1975-6291(pISSN)
  • /
  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
권호 표지

유리창 청소 로봇의 이동 메커니즘 제안

Proposal of Moving Mechanism of Window Cleaning Robot

  • 이동혁 (성균관대학교 기계공학부) ;
  • 문형필 (성균관대학교 기계공학부) ;
  • 노세곤 (동경공업대학교 기계우주학과) ;
  • 황달연 (한국산업기술대학교 기계설계공학과) ;
  • 유원필 (한국전자통신연구원 로봇시스템연구팀) ;
  • 최혁렬 (성균관대학교 기계공학부)
  • 투고 : 2009.11.28
  • 심사 : 2010.01.22
  • 발행 : 2010.02.26
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초록

Recently researches on the window cleaning robot are being conducted actively. Moving mechanismsof these window cleaning robots are divided into two categories, which are towed type and walking type. Towed type is focused on fast cleaning on the flat surface of building and walking type has priority on cleaning task on relatively complex surface with overcoming obstacles. Currently commercialized towed type window cleaning robot has weakness that it is hard to adhere closely with the wall and easy to be affected by wind. In case of walking type it has the problem that the position errors are continuously accumulated during motion. In this paper, we propose new towed and walking type mechanism which can compensate previous weaknesses. After that we estimate the performance of each proposed mechanism by simulation.

키워드

참고문헌

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