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Design and development of wall cleaning robot with dual rope climbing mechanism
Hobyeong Chae,Yecheol Moon,Kyung Ook Lee,Sung Jun Park,Hwa Soo Kim,TaeWon Seo 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
Cleaning task for vertical structure, such as walls on buildings and construction sites, has a high risk of fall accident. For this reason, research on automation of wall cleaning task based on robotics technology has been actively conducted in recent years. However, wall cleaning robots developed in many studies either had limited mobility performance or need external infrastructure for operation. In this research, we designed and developed a novel wall cleaning robot which has two main contributions. First, locomotion in both vertical and horizontal direction on the wall is possible by controlling the two rope climbing mechanisms in parallel. Second, no external infrastructures like winch and gondola are required for the operation except for fixed rope. The prototype of robot was developed, and field tests were conducted to verify cleaning performance using image processing.
Robust Design of a Rope Ascender Based on Geometric parameters of Traction Sheave
Myeongjin Choi,Hobyeong Chae,Kyungmin Kim,TaeWon Seo 한국정밀공학회 2021 International Journal of Precision Engineering and Vol.22 No.5
In this study, an optimal-traction sheave is designed to prevent slip for a two-degrees-of-freedom facade-cleaning robot called Dual Ascender Robot (DAR). The DAR uses the length of the rope to estimate its position. Therefore, if a slip occurs, it becomes difficult to measure the length of the rope, thereby making it difficult to estimate position. Problems with position estimation may also cause difficulties in achieving control. The redesigned traction sheave was thoroughly evaluated by experiments. A well-known Taguchi method was used as the experimental procedure, and the optimal design parameters of the sheave were determined as hoop direction groove shape of 0.8, axial direction groove pitch of 6°, and axial direction groove depth of 2 mm. Verification experiments comparing the traction sheave with the optimal condition to that used in DAR showed improved performance. Therefore, it is expected that applying the optimal traction sheave to a DAR in further studies would help achieve better position estimation by preventing slips