JRM Vol.35 No.6 pp. 1551-1561
doi: 10.20965/jrm.2023.p1551


Reliability Improvement of a Crawler-Type Ceiling Mobile Robot in Starting, Accelerating, and Traveling Phase at High Speed

Rei Ezaka, Takehito Yoshida ORCID Icon, Yudai Yamada ORCID Icon, Shin’ichi Warisawa, and Rui Fukui ORCID Icon

The University of Tokyo
5-1-5 Kashiwanoha, Kashiwa, Chiba 277-0882, Japan

March 30, 2023
July 11, 2023
December 20, 2023
ceiling mobile robot, mechanical hanging mechanism, crawler, optical motion capture

The ceiling serves as an ideal location for robots to handle transportation tasks, as it ensures minimal interference between automated guided vehicles (AGV) and human activities. A previous study developed a ceiling mobile robot called HanGrawler 2. It can travel at a high speed of 1.0 m/s to compete with ground vehicles. However, it occasionally fails during high-speed travel. This study aims to improve the reliability of starting, accelerating, and traveling at high speed. Optical motion capture is used to observe the crawler behavior of HanGrawler 2. The observation of the crawler behavior revealed that the crawler moves on an inflated trajectory during the high-speed movement. In addition, the experimental results show that the collision is not caused by the inflation, but by the push-in timing. The reliability of high-speed travel was improved by installing an encoder and optimizing the push-in timing in accordance with speed fluctuations.

Reliable high-speed travel of HanGrawler

Reliable high-speed travel of HanGrawler

Cite this article as:
R. Ezaka, T. Yoshida, Y. Yamada, S. Warisawa, and R. Fukui, “Reliability Improvement of a Crawler-Type Ceiling Mobile Robot in Starting, Accelerating, and Traveling Phase at High Speed,” J. Robot. Mechatron., Vol.35 No.6, pp. 1551-1561, 2023.
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