TY - GEN
T1 - Mechatronics Design of Wheeled Mobile Robotic System for Gutter Maintenance
AU - Arbulu, Mario
AU - Arias, Geyni
AU - Iniguez, Brayan
AU - Dussan, Sofia
AU - Barreto, Ricardo
AU - Cornejo, Jose
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper deals with the challenges involved on roof building gutter maintenance robot design, from the problem statement of secure teleoperated semiautonomous navigation on confined gutter spaces, and the best selection of right mechatronics brush to remove the waste on gutter surface; Two concept design have been tested: Passive Brush with Parallel locomotion (PBP), and Active Brush Axial (ABA). The results on our development are shown, as following: secure robot lifting regulation, simulation environment, HMI to teleoperate, mechatronics design. Finally, some tests on simulations and current prototypes are shown, to validate our proposal, and the conclusion that the ABA design allows to remove until 85% gutter waste, instead of PBP design; furthermore, the ABA allows independent brush rotation velocity, instead of PBP design.
AB - This paper deals with the challenges involved on roof building gutter maintenance robot design, from the problem statement of secure teleoperated semiautonomous navigation on confined gutter spaces, and the best selection of right mechatronics brush to remove the waste on gutter surface; Two concept design have been tested: Passive Brush with Parallel locomotion (PBP), and Active Brush Axial (ABA). The results on our development are shown, as following: secure robot lifting regulation, simulation environment, HMI to teleoperate, mechatronics design. Finally, some tests on simulations and current prototypes are shown, to validate our proposal, and the conclusion that the ABA design allows to remove until 85% gutter waste, instead of PBP design; furthermore, the ABA allows independent brush rotation velocity, instead of PBP design.
KW - gutter maintenance
KW - gutter mobile robot
KW - rotary brush
UR - http://www.scopus.com/inward/record.url?scp=85179888822&partnerID=8YFLogxK
U2 - 10.1109/INTERCON59652.2023.10326081
DO - 10.1109/INTERCON59652.2023.10326081
M3 - Contribución a la conferencia
AN - SCOPUS:85179888822
T3 - Proceedings of the 2023 IEEE 30th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2023
BT - Proceedings of the 2023 IEEE 30th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 30th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2023
Y2 - 2 November 2023 through 4 November 2023
ER -