Research On The Related Technology Of Window Glass Cleaning Robot

With the development of robot technology rapidly,the application of robot in industrial circle extend gradually to the application in family,in which cleaning robot plays a significant role.The paper developed a cleaning robot for glass outside window in high-rise residence.Based on theoretical analysis,simulations and experiments,this paper designed the structure of the robot,planned the trajectory of the robot,checked the strength and analyzed the modal,manufactured the robot model and done a series of experiments about robot's movement.The main contents include:(1)This paper designed the major structure of the cleaning robot based on the cleaning target.The mathematical model of the kinematics of the robot was established through D-H matrix method.The constraint conditions of rod length of the cleaning robot were established with the bifurcation theory.The inverse kinematics of the cleaning robot was analyzed and that the kinematics has infinite number of solutions was avoided through extended Jacobian matrices method.The expression of inverse kinematics was turned out to be true in the end.(2)The mathematical model of the robot dynamics was established through Lagrangian-Eulerian Method and the model was compared and analyzed with simulations of ADAMS software in the case of the constant speed and the constant acceleration respectively.(3)The trajectory in Cartesian space was planned with ADAMS software.The trajectory in joint space was also planned based on interpolation with cosine function transition and the method has some better characteristics than other trajectory planning methods.(4)The strength of robot's major components was checked with ANSYS Workbench software.The six lowest order modal of robot's major components and the whole cleaning robot was analyzed.(5)The model of the cleaning robot was manufactured.The control system consisted of microprogrammed control unit of Arduino UNO was established.A series of motion experiments were done and finally it can achieve designed prospectively trajectory.