NDLI: Tension control of wire suspended mechanism and application to bathroom cleaning robot

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Tension control of wire suspended mechanism and application to bathroom cleaning robot

Content Provider	IEEE Xplore Digital Library
Author	Takahashi, Y. Tsubouchi, O.
Copyright Year	2000
Description	Author affiliation: Dept. of Syst. Design Eng., Kanagawa Inst. of Technol., Japan (Takahashi, Y.)
Abstract	A wire suspended mechanism with tension control and its application to a bathroom-cleaning robot are presented. A compact and small size robot is designed using the wire suspended mechanism. Four wires suspend the robot main body from four upper corners of a bathroom. Handling the length and tension of the four wires, the robot cleans the wall of the bathroom. Power unit and computer system are placed on a floor separate from the robot main body. It is required to keep the robot main body even with the floor in order to clean the wall. The leveling control of the robot main body using a wire tension control is proposed. The tension-detecting unit proposed in this paper uses a simple lever type mechanism. The validity of the proposed tension control has been confirmed by the experimental and simulation results.
Starting Page	143
Ending Page	147
File Size	289296
Page Count	5
File Format	PDF
ISBN	078039805X
DOI	10.1109/SICE.2000.889669
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-07-28
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Wire Cleaning Robots
Content Type	Text
Resource Type	Article

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