Structure Design and Kinematics Analysis for a New-type All-electric Sweeper

This paper is meant to put forward and design the third sweeping brush structure which can clean curbstones, corners of walls and etc., optimizing the cleaning structure of the domestic small-sized all-electric cleaning vehicle. The new structure can expand the cleaning area the original sweepers cover, thus improving the cleaning efficiency and reducing human resources investment. To begin with, considering the functions and requirements of the third sweeping brush, the paper firstly designs several structures of some sweeping brushes and determine the ultimate structure type after analyzing their advantages and disadvantages. Next, using Denavit-Hartenbergn method, the paper establishes the kinematics models of the sweeping brush and solves its kinematics equation through homogeneous coordinate conversion. Finally, based on Monte-Carlo principle, the paper depicts the working space of the sweeping brush by using MATLAB on the basis of kinematic equation. The brushing dots are closely and equally distributed, therefore, the sweeping brush can meet the working requirements.