the present world productivity in robotics, as depicted in this pdf.

1. ROBO
VACCUUM
CLEANER
By
HAMMAD-UR-REHMAN
ENGINEERING DYNAMICS
Eng. Dr. KASHIF KHAN

2. 1
ABSTRACT:
Robotics is an emerging field of development in the 21st century, people all over the
world are investing time and money in the development and improvement of robotics
technologies. They make different robots to perform specific tasks. Robots are now
widely used in car manufacturing industries, in thos e areas where extreme accuracy is
required and human hands are insufficient for the task.
PROBLEM:
The problems that are faced in the basic requirement of robotic expertise, is to figure out
the governing phenomenon for which the robot is to be built. And then the extent of
robotic power to be impolite is calculated.
Now the problem is to build a rob vacuum that could sit beside the carpeted room and
have sufficient sensors that could readily detect any dirt or spill over on the carpet and
then it travels to the spot and clean.
CALCULATIONS:
A vacuum cleaner creates a vacuum that causes the brush of vacuum forcibly stick to the
carpet then to move the brush over the carpet extra force is requires to be applied.
Governing equations to get to the form:
퐹푎푝푝푙푖푒푑 − 푓푠 = 푚푎 eq. 1
A vacuum is the deficiency of air in a certain volume within high pressure region, this
phenomenon let a very unique thing to happen which was first demonstrated by
Archimedes that is the hemisphere vacuum experiment which demonstrate the load
applied by the atmospheric air on the hemisphere that is the to separate the two
hemisphere is very difficult.
In vacuum cleaners although vacuum is low therefore low vertical down force is
experienced on the brush:
VOLUMETRIC FLOW:
Flow rate may be calculated from
Q=K1Ao√
2Δ푃
휌
Where
Q – Volumetric flow rate
K1 – flow coefficient
Ao – area of the orifice plate
ΔP – pressure difference across the orifice plate
ρ - Air density

3. 2
Volume of brush cavity: V=l*b*h
The air pressure of atmospheric air is:
Patm =101 kPa
Pressure force over that area of vacuum :
W=Patm/Ao
Now, the reaction of surface: R=W fs=μR
Eq. 1 퐹푎푝푝푙푖푒푑 − μR = 푚푎
and then the robot can manage the speed and power to be diploid to clean the place.
CONCLUSION:
This type of problems are readily observer in robotics as this field is emerging very fast
and we can have very quick solution to the problems faced in this regard and can come
up with latest technologies that can change the world.

4. 3
REFFERENCE:
ME 322: Vacuum Cleaner Performance
Test
OBJECTIVES
The objective of this laboratory is to measure the performance of two vacuum
cleaner designs. Performance will be characterized based on the suction that each
vacuum develops under varying load conditions. The procedure for testing is based on an
ASTM standard [1].
BACKGROUND
The idea of a vacuum cleaner originated in the 19th century. The first vacuum
cleaners had to be operated manually. Two persons were needed for this: one to operate
the bellows and the other to move the mouthpiece over the floor. The dust was blown into
the air, similar to sweeping with a broom. In 1901 Hubert Booth changed the idea into
something more useful, when Booth came up with the idea of sucking the dust off the
floor, and subsequently filtering it out of the air stream. The process whereby particles
are suspended in a high velocity air stream for the purpose of moving the particles from
one place to another is called pneumatic transport. All modern vacuum cleaners are
based on Booth's principle, that of transporting the dust and dirt in a high velocity air
stream, and then collecting the dust through a filtering process.
HOW A VACUUM CLEANER MOVES DIRT
Have you ever used a leaf blower or watched one in action? The blower moves
debris through the action of moving air – the movement of the air causes an aerodynamic
drag force that pulls the debris along with the air. This drag force increases with higher
wind speeds and, hence, can move heavier objects at these higher speeds. This action of
moving a solid object by entraining it in moving air is known as "pneumatic transport."
Pneumatic transport is widely used in industry to move solid particles from one point to
another. It is how they get the wheat flour into the bags you buy at the store, or the cereal
in the box. It is also how a vacuum cleaner moves dirt.

5. 4
As air moves past a solid object, a drag force results. This force is proportional
to the square of the velocity times the frontal area of the solid. If the force is high enough
to overcome the static frictional and gravity forces that hold the object in place, the object
will move and, if the drag force is greater still, the object will become suspended
(entrained) in the air and move with the air.
A vacuum cleaner operates using this principle of pneumatic transport. The
objective is to move dirt from the floor or furniture to a collection bag within the vacuum
cleaner. To do this, the vacuum cleaner moves air and entrained dirt through itself. It
contains a blower, a cleaning nozzle, connecting tubes, and a breathable collection filter
bag (or in some designs a collection chamber). Because it uses pneumatic transport
principles, the more air the vacuum moves the better its performance. So one goal in
designing a vacuum cleaner is to generate airflow. A key to this end is the design of the
blower and connecting tubes.
Vacuum Cleaner Design
A blower is used to move the air in a vacuum cleaner. Typically, a centrifugal
(often called radial) blower is used (see Figure 1 below), which is turned by an electric
motor. In such a blower, a rotating impeller will bring about a pressure difference: low
pressure or suction at the inlet end and high pressure at the exit. The pressure difference
causes air to move. The higher this pressure difference, the higher the air flow rate. Fluid
enters the blower along its centerline parallel to the rotational axis. It is turned 90o within
the impeller to exit flowing radially outwards through its volute and diffuser. The
impeller (Figures 1 and 2) contains blades that act as small wings to create the pressure
difference. Generally, the more blades, the higher the pressure difference that a particular
blower can generate and the lower noise it produces. The impeller is enclosed within a
casing. The closer the fit between the impeller and the casing, the higher the pressure and
flow rate.
The nozzle is designed to create a high airflow near the surface being cleaned to
allow dirt to be swept up by the moving air and entrained into the vacuum cleaner. A
rotating beater bar is often used to beat the carpet to stir up trapped dust and to sweep up
larger debris. Once stirred, the dust is entrained by the moving air.
Connecting tubing becomes the vessel for pneumatic transport of dirt within the
vacuum cleaner. The connecting tubing connects the nozzle to the blower or the cleaning
tools to the blower. Some tubing may be visible on the outside of the vacuum cleaner, but
there are also tubing passages internal to the device, as well. The tubing design is very
important. Short, large diameter tubing is preferred over long and/or small diameter

6. 5
tubing. This is because flow resistance in a tube is proportional to the tube length and is
inversely proportional to the tube diameter to the fifth power (flow losses ∝ L/d5)! So the
distance from the nozzle to the blower is preferably short and spacious. It is common to
find connecting tubing as small in diameter as 1.25 inches, which is okay for short runs,
but 2 inch diameter or more are preferred to maintain higher flow rates.
Figure 1. Cut-away View of Centrifugal Blower (also known as a Radial Blower).

7. 6
Figure 2 Cut-away views of a typical impeller used in a centrifugal blower.
Vacuum Cleaner Performance
Typical blower-system performance curves for several vacuum cleaners are
shown in Figure 3. These are plotted as “pressure” or static (suction) head versus “air
flow rate”. The static head tends to be high at low flow rates and falls to zero at the
maximum flow rate. The blower will actually operate at the point on the curve where the
blower curve matches the system flow resistance pressure. Normal operating condition is
somewhere in the middle of the curve but varies with the specific cleaning chore (plush
carpets impart a higher pressure resistance then bare wood floors, etc.). The vast majority
of vacuum cleaners today do not utilize a speed controller on the blower. This means that
the blower rotating speed changes with cleaning chore. The more air that flows through
the blower, the slower it turns. A typical blower turns at 30,000 down to 20,000 RPM and
can vary by ± 8,000 RPM during normal cleaning chores.

8. 7
Figure 3. Typical Flow Curves for Commercial Vacuum Cleaners
Lets think about the blower curves in Figure 3: If you block the end of the
nozzle, the flow falls to zero – the static head is highest (hence, high suction and referred
to as the seal suction). The RPM rises since there is no air flow load on the impeller. As
you vacuum a carpet, the nozzle is partially blocked – this is normal loading and
somewhere in the middle of the curves. In fact, the low plush carpet condition is labeled
with a ‘star’. The RPM is somewhere near its designed operating value so it is likely to
give its best performance here. If you place nozzle in the open air, the only blockage is
the losses in the vacuum lines giving maximum flow rate at lowest suction and lowest
RPM. The best cleaning vacuum cleaner will tend to have higher suction at higher flow
rates because this gives best pneumatic conveying capability. In fact, the product of static
head and flow rate is a measure of cleaning capability. The differences in the curves
shown reflect design differences in the different devices. All of these units have very
good cleaning performance.
The concept of seal suction brings up an interesting pet peeve of this author. A
typical sales pitch is to feel the suction of a vacuum cleaner when it is totally blocked.
The salesperson has you place your hand over the end or something similar: Strong
suction yet no air movement – hence, no pneumatic transport and no cleaning. So this test

9. 8
tells little about how well a particular vacuum will clean. A better test is to know air flow
rate under a partial blockage. Seal suction is useful, but remember air flow is what it takes
to clean!
PROCEDURE
You are to measure the performance of two models of vacuum cleaner. The test is based
on ASTM F 588-03. A plenum is an essential part of this test standard; such a plenum is
provided in the lab. The test procedure is outlined below.
1. Measure the barometric pressure and the air temperature in the room where the
test will be conducted.
2. Connect the vacuum cleaner to the appropriate inlet on the plenum.
3. Familiarize yourself with the current measuring instrumentation, and the
manometer that will measure the suction.
4. Ensure that the hose is free of kinks or abrupt bends.
5. There is a location for installation of various sized orifice plates in the top of the
plenum. Remove any orifice plate from this location. We will refer to this as
an “open orifice” condition.
6. Run the vacuum cleaner under the “open orifice” condition for two minutes to
allow the motor to reach its operating temperature.
7. Install the 2 inch orifice plate, with the vacuum continuing to run.
8. Wait 1 minute and record the suction and the current.
9. Remove the 2 inch orifice and allow the vacuum to run for 1 minute at open
orifice condition.
10. Repeat these measurements for the 1.5, 1, 0.75, 0.5, 0.25 and 0 inch orifice
plates.
11. Repeat these measurements for the other vacuum cleaner.
DATA ANALYSIS
You are to calculate the volumetric flow rate of air from the measured values of suction
for each of the orifices. Flow rate measurement using an orifice is discussed in section

10. 9
10.5 of the text. The flow rate may be calculated from
Q KA= 1 o 2ρΔP (1)
where
Q – volumetric flow rate
K1 – flow coefficient
Ao – area of the orifice plate
ΔP – pressure difference across the
orifice plate ρ - air density
The value of K1 has been determined through extensive testing by ASTM. This is the
purpose of providing a standard plenum design. The values of K1 are provided in Table 1.
Carefully note the definitions and units of the various quantities.
Fluid power is a concept that allows the direct measure of the rate at which work is being
done on a fluid. The fluid power can be expressed
P= ΔQ P (2)
Deliverables
1. A plot of suction as a function of flow rate for each of the vacuums.
2. A plot of the fluid power as a function of suction for each of the vacuum.
3. A plot of efficiency as a function of fluid power, where efficiency is the ratio of
fluid power to electric power.

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4. A discussion of the results in terms of cleaning performance of the vacuum
cleaners.

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