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https://www.um.edu.mt/library/oar/handle/123456789/122082
Title: | Development of a stair descending and traversing mechanism for a cleaning robot |
Authors: | Galea Musu, Andrea Saliba, Michael A. |
Keywords: | Robots -- Control systems Robots -- Programming Mobile robots Stairs Cleaning -- Equipment and supplies |
Issue Date: | 2022 |
Publisher: | Institute of Electrical and Electronics Engineers |
Citation: | Musu, A. G., & Saliba, M. A. (2022, December). Development of a Stair Descending and Traversing Mechanism for a Cleaning Robot. 2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR), Poland. 83-93. |
Abstract: | The development and commercialization of domestic floor cleaning robots has increased rapidly over recent years, however these remain limited to operation on flat floors without stairs. A small number of stair cleaning robots have been proposed in the academic literature, however these generally incorporate complex stair climbing and descending mechanisms that may inhibit their commercialization. In this work, we propose that in most practical applications, a domestic stair and floor cleaning robot needs only the capability to descend (not ascend) a staircase. We present the design and construction of a first prototype for a new stair descending and sideways traversing mechanism that could be applied to such a domestic cleaning robot. The conceptual, embodiment and detailed design stages of this development, including mechanical analysis, control system design, and material selection, are described in detail. The robot chassis was manufactured by 3D printing and laser cutting. An evaluation of the assembled prototype is also presented. |
URI: | https://www.um.edu.mt/library/oar/handle/123456789/122082 |
Appears in Collections: | Scholarly Works - FacEngME |
Files in This Item:
File | Description | Size | Format | |
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Development_of_a_Stair_Descending_and_Traversing_Mechanism_for_a_Cleaning_Robot_2022.pdf Restricted Access | 840.23 kB | Adobe PDF | View/Open Request a copy |
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