1、PDF外文：http:/ 1 WallWalker: Proposal of Locomotion Mechanism Cleaning Even at the Corner T. Miyake1 2 and H. Ishihara1 1 Kagawa Univ. Japan 2 MIRAIKIKAI Inc., Japan Abstract. The purpose of this research is to develop the window cleaning robot forcleaning a single large windowpane
2、such as a show window. It requires the followingdemands to apply the window cleaning robot for the practical use: 1. Clean the corner of window because fouling is left there often. 2. Sweep the windowpane continuously to prevent making striped patterns on awindowpane. The keys of mechanisms are the
3、rotatability of the mobile part around the otherparts and the continuous locomotion in order to achieve the above points. The formerenables the robot to change the direction with keeping its position and attitude at the corner of window. The latter is necessary for preventing leaving the striped pat
4、ternon a windowpane. We designed the continuous motion using two-wheel locomotionwith adhering on the windowpane using a suction cup. The size of prototype is about 300mm 300mm 100mm and its weight isabout 2 kg without batteries. As the results of basic experiments of the prototype ona vertical smoo
5、th window glass, traveling velocity of going up direction was 0.08 m/s,one of going down direction was 0.14 m/s and horizontal direction was 0.11 m/s. In this paper the 1st chapter mentions background and objectives of this research,and also introduces the concept of WallWalker. The 2nd chapter disc
6、ussesthe adhering and moving mechanism. The 3rd chapter illustrates its basic properties based on the experiments. Finally, problems and future works are discussed in the4th chapter. 本科毕业生毕业设计（论文）外文翻译 2 1 Introduction Recently, we have had many requests for the automatic cleaning of outsidesu
7、rface of buildings. Some customized window cleaning machines have alreadybeen installed into the practical use in the field of building maintenance.However, almost of them are mounted on the building from the beginning and they needs very expensive costs. Therefore, requirements for small, lightweig
8、ht and portable window cleaning robot are also growing in the field of building maintenance. As the results of surveying the requirements for the window cleaning robotby the field research with the cleaning companies, the following points arenecessary for providing the window cleaning robot for prac
9、tical use: 1. It should be small size and lightweight for carried by one person to everywhere. 2. Clean the corner of window because fouling is left there often. 3. Sweep the windowpane continuously to prevent making striped pattern ona windowpane. The locomotion mechanism must be chosen to satisfy
10、these demands, especially later two subjects. Here locomotion mechanism means the combinationof adhering mechanism, traveling mechanism and a mechanism for changinga traveling direction. Various researches of locomotion mechanisms on wall climbing robots have been reported 1 5. However they do not a
11、dapt to above three points completely.For example, climbing robot by legged-wall walking can not realizethe continuous movement, and also its turn-ability is low 6. We focused on the application of the window cleaning robot on a singlewindowpane. It is apparently necessary to cross over the window f
12、rame orjoint line to use it at any window, but the single windowpanes like as a showwindow also exist as an important application. According to such considerations, we adopted the two-wheel locomotion mechanism with adhering by a suction cup. This paper mainly deals with this mechanism and functions
13、 specialized in cleaning the corner of window. First requirement brought the following specifications for designing thewindow cleaning robot. Weight: 5 kg, including the weight of battery and washing water, 本科毕业生毕业设计（论文）外文翻译 3 Size: 300mm 300mm 100 mm. These are also defined by th
14、e results of surveying the demands from thecleaning companies. This paper proposes the small, light and portable window cleaning robot named WallWalker, which are designed to satisfy the market demands as mentioned above. Figure 1 is the rendering at a scene of practical use of WallWalker. The WallW
15、alker is adhering on a windowpane and cleaning as moving on large windows. This paper discusses the effectiveness of proposed locomotion mechanism. The 2nd chapter discusses the locomotion mechanisms and illustrates the prototype for testing the proposed locomotion mechanism. The 3rd chapter illustr
16、ates its basic properties based on the experiments. Fig. 1. Small-size window cleaning robot on a window 2 Locomotion Mechanism Various researches of locomotion mechanisms on the window cleaning robots have been reported. However they do not meet our specifications defined based on the market
17、 demands above-mentioned. For example, climbing robot by legged-walk cannot realize the continuous movement, and also its turn-ability is low 6. Climbing robot using crawler mechanism allows continuous movement, but the rotatability is as low as or lower than the leggedwalk 7. Window cleaning robot by crawler mechanism had been developed (Size: 440 400 180mm Weight: 6.5 kg maximum speed 2 cm/sec) by Shraft
