%0 Journal Article
	%A Mohamed T. Sorour and  Mohamed A. Abdellatif and  Ahmed A. Ramadan and  Ahmed A. Abo-Ismail
	%D 2011
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 59, 2011
	%T Development of Roller-Based Interior Wall Painting Robot
	%U https://publications.waset.org/pdf/6737
	%V 59
	%X This paper describes the development of an
autonomous robot for painting the interior walls of buildings. The
robot consists of a painting arm with an end effector roller that scans
the walls vertically and a mobile platform to give horizontal feed to
paint the whole area of the wall. The painting arm has a planar twolink
mechanism with two joints. Joints are driven from a stepping
motor through a ball screw-nut mechanism. Four ultrasonic sensors
are attached to the mobile platform and used to maintain a certain
distance from the facing wall and to avoid collision with side walls.
When settled on adjusted distance from the wall, the controller starts
the painting process autonomously. Simplicity, relatively low weight
and short painting time were considered in our design. Different
modules constituting the robot have been separately tested then
integrated. Experiments have shown successfulness of the robot in its
intended tasks.
	%P 2302 - 2309