RoboPainter：ロボットによる内装仕上げ塗装の概念設計
RoboPainter -- a conceptual towards robotized interior finishes
壁や天井の塗装と装飾描画が可能な8自由度移動ロボットのCADモデルを提案し、従来研究より軽量・高塗装レートを実現した。
著者: Mohamed Sorour
分類: cs.RO
原文アブストラクト
High demand for painters is required nowadays and foreseen in the near future for both developed and developing countries. To satisfy such demand, this paper presents the detailed computer aided design (CAD) model of a fully functional wall painting robot for interior finishes. The RoboPainter is capable of performing full scale wall-ceil painting in addition to decorative wall drawings. The 8 degrees of freedom (DOF) mobile robot structure consists of a 6DOF spray painting arm mounted on a 2DOF differentially driven mobile base. The design presented endows several achievements in terms of total robot mass and painting rate as compared to existing literature. Detailed dynamic model parameters are presented to allow for further enhancement in terms of robot motion control.
