Research on the Vacuum Attachment System of a Cleaning Robot with Vertical Displacement

Abstract

Autonomous mobile robots for vertical surface cleaning have to support their own weight, fixing elements most frequently used being vacuum cups. An original construction of a cleaning robot with displacements in a vertical plane and vacuum attachment system was developed by the authors. The paper presents the most important results of the research performed in order to establish the behavior of vacuum cups used for coupling to the supporting surface in the presence of external loads.