Reliability Improvement of a Crawler-Type Ceiling Mobile Robot in Starting, Accelerating, and Traveling Phase at High Speed-Reference-Cited by-同舟云学术

Reliability Improvement of a Crawler-Type Ceiling Mobile Robot in Starting, Accelerating, and Traveling Phase at High Speed

Published:2023-12-20 Issue:6 Volume:35 Page:1551-1561
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Ezaka Rei¹,Yoshida Takehito¹^ORCID,Yamada Yudai¹^ORCID,Warisawa Shin’ichi¹,Fukui Rui¹^ORCID

Affiliation:

1. The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-0882, Japan

Abstract

The ceiling serves as an ideal location for robots to handle transportation tasks, as it ensures minimal interference between automated guided vehicles (AGV) and human activities. A previous study developed a ceiling mobile robot called HanGrawler 2. It can travel at a high speed of 1.0 m/s to compete with ground vehicles. However, it occasionally fails during high-speed travel. This study aims to improve the reliability of starting, accelerating, and traveling at high speed. Optical motion capture is used to observe the crawler behavior of HanGrawler 2. The observation of the crawler behavior revealed that the crawler moves on an inflated trajectory during the high-speed movement. In addition, the experimental results show that the collision is not caused by the inflation, but by the push-in timing. The reliability of high-speed travel was improved by installing an encoder and optimizing the push-in timing in accordance with speed fluctuations.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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