Browse > Article
http://dx.doi.org/10.7746/jkros.2019.14.3.191

Rope Modeling and Verification for the Robotic Platform of the Wall Cleaning Robot (ROPE RIDE)  

Yoo, Sungkeun (School of Mechanical and Aerospace Engineering, Seoul National University)
Kim, Taegyun (School of Mechanical Engineering, Yeungnam University)
Seo, Myoungjae (School of Mechanical Engineering, Hanyang University)
Kim, Hwa Soo (School of Mechanical System Engineering, Kyounggi University)
Seo, TaeWon (School of Mechanical Engineering, Hanyang University)
Publication Information
The Journal of Korea Robotics Society / v.14, no.3, 2019 , pp. 191-195 More about this Journal
Abstract
This paper presents a rope modeling and verification for the robotic platform of the wall cleaning robot (ROPE RIDE). ROPE RIDE has the characteristics of climbing up and down using a rope fixed on the roof like traditional workers. In order to perform a stable operation with a wall cleaning robot, it is necessary to estimate the position of the robot in a vertical direction. However, due to the high coefficient of extension and nonlinearity of the climbing rope, it is difficult to predict the behavior of the rope. Thus, in this paper, the mathematical modeling of the rope was carried out through the preliminary experiment. Extensive experiments using different types of rope were used to determine the parameters of the constitutive equation of climbing ropes. The validity of the determined parameters of various ropes was verified through the experiment results.
Keywords
Building cleaning robot; rope mechanism; constitutive equation; modeling parameter;
Citations & Related Records
연도 인용수 순위
  • Reference
1 T. Akinfiev, M. Armada, and S. Nabulsi, "Climbing cleaning robot for vertical surfaces," Industrial Robot: An International Journal of Robotics Research and Application, vol. 36, no. 4, pp. 352-357, 2009.   DOI
2 N. Elkmann, D. Kunst, T. Krueger, M. Lucke, T. Bohme, T. Felsch, and T. Sturze, "SIRIUSc - facade cleaning robot for a high-rise building in Munich, Germany," Climbing and Walking Robots, pp.1033-1040, 2004.
3 S.-M. Moon, J. Huh, D. Hong, S. Lee, and C.-S. Han, "Vertical motion control of building facade maintenance robot with built-in guide rail," Robotics and Computer-Integrated Manufacturing, vol. 31, pp. 11-20, Feb., 2015.   DOI
4 T. Kim, Y. Jeon, S. Yoo, K. Kim, H. S. Kim, and J. Kim, "Development of a wall-climbing platform with modularized wall-cleaning units," Automation in Construction, vol. 83, pp.1-18, Nov., 2017.   DOI
5 J. F. Flory, V. Ahjem, and S. J. Banfield, "A new method of testing for change-in-length properties of large fiber-rope deepwater mooring lines," Offshore Technology Conference, Houston, Texas, USA, pp. 1087-1096, 2007.
6 C. Martins, V. Pinto, R. M. Guedes, and A. T. Marques, "Creep and stress relaxation behaviour of PLA-PCL fibres - A linear modelling approach," Procedia Engineering, vol. 114, pp.768-775, 2015.   DOI
7 A. Takata, G. Endo, K. Suzumori, H. Nabae, Y. Mizutani, and Y. Suzuki, "Modeling of Synthetic Fiber Ropes and Frequency Response of Long-Distance Cable-Pully System," IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 1732-1750, Jul., 2018.
8 W. N. Findley, J. S. Lai, and K. Onaran, "Linear Viscoelastic Constitutive Equations," Creep and Relaxation of Nonlinear Viscoelastic Materials, Dover Publications, INC., New York, 1976, ch. 5, sec. 4, pp. 51-68.