Synchronizing of friction-hoisting mechanisms mounted symmetrically on both sides of rope suspended robot with fuzzy logic control

The robot, which is used for high building cleaning, hoists frictionally up and down along wall by means of the friction between two friction-wheels mounted on both sides of the frame and steel ropes which are suspended on the top of the building. In order to keep the frame in horizontal so that the robot can work smoothly, the two hoist mechanisms on both sides of the frame must be run synchronously. This paper discusses the design of the detector, which is used to measure the declining angle of the frame caused by nonsynchronal running of hoisting mechanisms, and fuzzy controller, which is used to harmonize the friction-hoisting mechanisms. The result of experiment shows that fuzzy controller can keep hoisting mechanisms running synchronously and hold the frame's posture in horizontal and the method is feasible and satisfied.