Autonomous mobile robot with displacements in a vertical plane and applications in cleaning services

Robotic systems have lead to important progress in the vast field of automation. Even if industrial robots prevailed initially, service robots intended to perform various activities, including domestic tasks, have brought a substantial contribution in the latest two decades. Autonomous mobile robots used for vertical surface cleaning involve the most complex mechanical structures from the point of view of displacement kinematics as well as fixing in operating points. Differently than service robots with horizontal plane displacement, this category of robots has to support its own weight, fixing elements most frequently used being vacuum suction cups. The paper presents the construction, modelling and simulation of functioning of a robot with displacements in a vertical plane used for cleaning vertical surfaces. The original robot construction, developed by the authors, covers the main basic functions of cleaning robots.