덕트 크리닝 로봇 플랫폼 개발

초록

This paper presents the design and construction of a duct cleaning robot for domestic duct environment. The design includes a compliant device to measure and control the contact force of the brush with the duct interior. The robot has been designed to autonomously clean the interior of the duct using RR(Revolute-Revolute) type front robot arm and the 2-DOF upper robot arm. In this development, the light weight, the cleaning speed, and the complete coverage of the reachable workspace of the robot are emphasized. The prototype construction has been completed and the test drive using a joystick has been carried out successfully.