Design And Performance Analysis For Virtual Prototype Of A Window-cleaning Robot

It is an inevitable trend for the development of cleaning industry in the future that the window-cleaning robots,which has extensive market demand and huge economic benefits,replace people in high-altitude glass-cleaning job.Virtual prototype design and performance analysis of a household window-cleaning robot,based on the research of domestic and foreign cleaning robots,are done in this thesis.The main research work and conclusions are as follows,(1)A new overall design scheme of window-cleaning robot with wheel-footed hybrid mechanism is proposed and its virtual prototype is designed.The robot has a common single-suction wheeled mobile robot and a multi-foot creeping mechanism in its body,and it can automatically conduct continuous operation by switching between wheel and foot mode to achieve cleaning and over-obstacle functions.The robot has the advantages of both rapid movement speed of wheeled robots and good over-obstacle capability of footed robots.(2)In the cleaning mode,the statics,kinematics and dynamics analysis for the window-cleaning robot are done,and the combined simulation employed ADAMS and MATLAB/Simulink software is carried out.The results show that the security and maneuverability should be taken into account at the same time in the design,the adsorption force should be reasonably selected,the self-weight of the robot should be reduced and the wheelbase should be increased as much as possible.The robot can trace the expected trajectory calculated by the kinematics and dynamics analysis,and the correct of design and reasonability of the path planning are verified.(3)In the over-obstacle mode,the statics,dynamics analysis and kinematics simulation for the window-cleaning robot are done.The results show that the safe adsorption force is proportional to the gravity and the distance between center of mass and wall surface,and is inversely proportional to the friction coefficient and the distance between suction cups.The rationality of design and gait planning of the over-obstacle mechanism and the stability of the operation are proved by the simulation results.(4)The mechanical strength of the key parts of the robot is simulated employed ANSYS software in the last part of the thesis.The simulation results provide a basis for the robot's structural design and lightweight.