Telerobotic Device for Roadway Debris Vacuuming
This paper discusses an end-effector for telerobotic positioning of the nozzle for a vacuum-based roadway debris removal vehicle. While relatively simple in its structure, the system allows for the collection of debris along fences, shrubbery, guardrails, medians, and some embankments by using a large vacuum nozzle that will be extended with a boom reaching forward of the vehicle’s cab and swinging to the left and right sides. The paper also presents the results of experiments that allow for better understanding of the astrictive capabilities of such a vacuum system and thus lead to their optimal design.
KeywordsLitter Mixture Litter Removal Elephant Trunk Fixed Object Sweeping Motion
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