HangBot: a Ceiling Mobile Robot with Robust Locomotion under a Large Payload (Key mechanisms integration and performance experiments)
This research aims to develop a ceiling mobile robot that can sustain a large payload and can locomote freely under a ceiling space. In our approach, a perforated metal, one of the recent popular architectural materials, is utilized as a ceiling plate and the robot hooks and hangs the sequential holes of the ceiling plate by mechanical constraint. To realize the robot, the authors developed three key mechanisms, (1) ceiling hanging mechanism for the perforated metal, (2) horizontal locomotion mechanism like an inchworm, and (3) pantograph mechanism for smoothing horizontal locomotion speed and for load balancing. A unit testing of the ceiling hanging mechanism and the integration horizontal locomotion experiments con.rmed the good performance of each mechanisms and the feasibility of mechanically constrained ceiling mobile robot. However, it was revealed that higher power motors and a stiffer body structure should be installed to sustain an extremely large payload like a human.
Rui Fukui Hiroshi Morishita Taketoshi Mori Tomomasa Sato
Graduate School of Information Science and Technology,The University of Tokyo.7-3-1 Hongo,Bunkyo-ku, HMI Corp. Matsudo Paresu 1002,35-2 Koyama,Matsudo,Chiba,JAPAN
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4601-4607
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）