Structure Design Of Two Arms Ground Cleaning Robot

Now robot is a sunrise industry in China and is applicable to all walks of life,such as industry,service,and medical.This project mainly designs a cleaning robot based on mobile robot,which is fully automatic and suitable for indoor commercial establishments.The main contents of this article is as follows:(1)A detailed description of the design of the cleaning robot structure,which includes a moving mechanism,a transmission mechanism,and a cleaning mechanism is presented.In this paper,the key positions of the mechanism are analyzed by mechanical analysis,and the mechanism is analyzed by Solidworks mechanics to verify the reliability of the entire structure.Secondly,this paper designs the overall framework of the hardware system of the cleaning robot.This paper mainly compares and selects the performance of various types of hardware,designs a hardware platform for cleaning robots,and designs an embedded system suitable for indoor cleaning robots.(2)Perform more in-depth mechanical analysis of the cleaning robot.In this paper,the dynamics of the system control are calculated,and the control of the angle of the servo is used to implement the cleaning tool.In this paper,using Lyapunov method to analyze the kinematics on the basis of mobile robots,a control law suitable for cleaning robots is designed to study the robot's motion trajectory.And use the simulation to verify its effectiveness.(3)Part of cleaning robot's hardware system was designed.This paper mainly selects the performance of various types of hardware and designs a hardware system for cleaning the chassis DC motor.In this paper,the SLAM principle is analyzed and introduced,and SLAM algorithm suitable for ROS environment is selected.This article finally designs a set of cleaning robot based on mobile robots,and analyzes them in mechanics and other aspects.The cleaning robot can realize the functions of dirt-finding and automatic cleaning,and can liberate manpower and realize the purpose of automation.