Design and Fabrication of Silo Cleaning Robot Using Vacuum Principle

Chi Cong Nguyen, Van Tinh Nguyen, Ngoc Linh Tao, Thanh Trung Nguyen, Ngoc Kien Nguyen, Ngoc Tam Bui

研究成果査読

抄録

This paper presents a mechanical design and motion-control system of a Wall-Climbing Robot (WCR) which can move on the silo's surface for cleaning purposes. One of the most challenges with this type of robot that the researchers confront is how to keep the robot moving steadily on the wall with the most optimal approach. In this study, a new mechanical design of the Wall-Climbing robot using the Vacuum principle and wireless control technology were proposed. This version of the robot enhances the ability of its movement on the silo's wall and optimizes control system. In detail, the Minimum Required Adhesion Force (FMRA) is calculated to be balanced with gravity and its torque. Moreover, a Wireless Control System (WCS) is designed to drive the Robot remotely. The optimal control trajectory and velocities are given based on theory calculations and comparisons.

本文言語English
論文番号012009
ジャーナルJournal of Physics: Conference Series
1922
1
DOI
出版ステータスPublished - 2021 5 26
イベント2021 5th International Conference on Robotics and Machine Vision, ICRMV 2021 - Seoul, Virtual, Korea, Republic of
継続期間: 2021 2 262021 2 28

ASJC Scopus subject areas

  • 物理学および天文学(全般)

フィンガープリント

「Design and Fabrication of Silo Cleaning Robot Using Vacuum Principle」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル