Structure Design and Path Planning for Cleaning Manipulator
School of Mechanical Engineering, Xinjiang University, Urumqi 830017, China
| Abstract: | Robots can replace people to complete many complex, and repetitive tasks, and can also replace people to work in dangerous and toxic and harmful environments. At present, most of the car cleaning methods are manual cleaning, which is time-consuming and laborious. It is also easy to damage the car surface and dirt will endanger the health of staff. The car cleaning robot can replace people to clean. The structure and cleaning path of the cleaning manipulator have an important impact on the cleaning efficiency. The paper designs the structure of the cleaning manipulator and plans its cleaning path. Firstly, the functions of the studied manipulator are analyzed through investigation; Determine the overall structure of the cleaning manipulator according to the required functions to ensure that the car can be cleaned in all directions; Secondly, carry out detailed structural design for the 6-DOF manipulator, complete the clamping of rags and other cleaning tools through the connecting rod structure, and assemble rollers on both sides of the connecting rod to ensure that the robot can effectively complete the cleaning of the car, and carry out digital 3D modeling; Finally, the cleaning path of the manipulator is planned in the MATLAB environment to ensure the smooth motion of the robot. The digital motion simulation of the manipulator is completed by solving the forward. |
| Keywords: | Cleaning Manipulator; Structure Designation; Path Plan |
| DOI: | 10.57237/j.cst.2023.02.002 |
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Received: 7 February 2023
Accepted: 17 March 2023
Published Online: 28 March 2023
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