Realization of a Service Robot for Cleaning Spherical Surfaces

• Main Authors: Guanghua Zong, Rong Liu, Jianwei Zhang, Houxiang Zhang
• Format: Article
• Language: English
• Published: SAGE Publishing 2008-11-01
• Series: International Journal of Advanced Robotic Systems
• Subjects: spherical surface; auto-climbing robot; mechanism structure; control system; motion function
• Online Access: http://www.intechopen.com/articles/show/title/realization_of_a_service_robot_for_cleaning_spherical_surfaces

There are more and more buildings with complicated shape emerging all over the world. Their walls require constant cleaning which is difficult to realize. In this paper, based on analyzing the characteristics of the working target,a new kind of auto-climbing robot is proposed, which is used for cleaning the spherical surface of the National GrandTheatre in China. The robots' mechanism and unique aspects are presented in detail. A distributed controller based onCAN bus is designed to meet the requirements of controlling the robot. The control system is divided into 6 parts, fiveCAN bus control nodes and a remote controller, which are designed and established based mainly on the P80C592.Finally, the motion function is described in detail. The experimental results confirm the principle described above andthe robot's ability to work on the spherical surface.