The purpose of this paper is to present an omni-directional floor-cleaning robot equipped with four omni-directional wheels. The research purposes are to design a robot for cleaning jobs in domestic, narrow and crowded places and to provide a robotics-study platform in a laboratory. The robot system using Swedish wheels, one dust collector (brush) switching device and a sort of air-bag sensing device is designed. The kinematics and the motion control conditions of the robot are analyzed. Specifically, a design method of wheels is described. The configuration of the robot, parameters of the wheel and controlling methods are studied and demonstrated. The smooth locomotion capability and high-working efficiency are verified by experiments. The robot can perform its work in semi-autonomous and tele-operated mode. Moreover, the robot can pivot around, avoid obstacles and is provided with automatic power management system. The research target is to provide a kind of robotic cleaner especially for crowded public or narrow places and educational robotics-study platform in a laboratory.


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    Title :

    Floor-cleaning robot using omni-directional wheels


    Additional title:

    Fußbodenreinigungsroboter mit schwenkbaren Rädern


    Contributors:
    Gao, Xueshan (author) / Wang, Yan (author) / Zhou, Dawei (author) / Kikuchi, Koki (author)

    Published in:

    The Industrial Robot ; 36 , 2 ; 157-164


    Publication date :

    2009


    Size :

    8 Seiten, 12 Bilder, 3 Tabellen, 16 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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