新型清洁机器人的设计与分析

Design and Analysis of a New Cleaning Robot

设计了一种基于螺旋运动原理的新型扫拖一体清洁机器人和相适应的控制系统,改进了现有国内外各种智能清洁机器人在清洁系统方面存在清洁能力不佳,人力替代程度不高等方面的不足。它利用弹性螺旋凸起与地面的相互作用和相对运动,实现拖地和扫地功能,理论分析表明其具有更佳的清洁能力;同时它还具有自动清洗和水循环等功能。针对其特殊的运动和受力模式,给出了其运动约束条件,分析并给出了侧滑情况下的运动学模型。

There are still some problems for intelligent cleaning robots,such as poor cleaning effect and more human intervention.A new type cleaning robot is designed based on helix turning motion,which utilizes the relative movement and forces between stretch helicoidal bulges and ground,thus to mopping and sweeping.Theoretical analysis indicates that it can clean ground more efficiently.In addition,the new type cleaning robot has functions of self cleaning and water filtration.Considering the special movement and forces,kinematic constraint and model is described.Appropriate control system is designed.