A Stair Climbing Floor-sweeping Robot Based on Solidworks and Matlab Simulation Platform

Nowadays, most sweeping robots can only clean on flat ground, and due to a large number of steps, manual cleaning is more complicated and requires a lot of work. Therefore, a sweeping robot that can climb stairs is designed, and the solidwoks platform is used to draw the structural model of the sweeping robot. The sweeping robot consists of a robot body, a stair-climbing mechanism, and a cleaning arm. The stair-climbing mechanism is in the existing planetary structure wheel. Based on the combination of the Mecanum wheel, the sweeping robot can perform the lateral movement on the stairs. At the same time, the Mecanum wheel base's kinematic model is established, the control process of climbing and cleaning is introduced, and then the forward kinematics simulation of the cleaning arm is carried out through the matlab simulation platform. The stair-climbing sweeping robot designed in this paper has made several major improvements based on traditional sweeping robots and has the characteristics of adapting to various complex environments.