Design of a Train Cleaning Robot for the Train Carriage Interior

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4 Citations (Scopus)
204 Downloads (Pure)


This paper describes the design of a robot platform that can collect and disposing waste in passenger trains. It covers an analysis of the key design considerations for success in operating in a train environment, as well as considerations in manipulating waste in an often-confined space. The design constraints are analyzed for their importance in the successful development of a train cleaning robot. The analysis informs the development of three robot designs. These designs are assessed in their appropriateness for development against a baseline design that uses readily available parts. Among the three designs developed, one uses a vacuum powered arm similar to the type utilized in manufacturing plants, one is based on the dustpan and brush used in domestic cleaning, and one is based on a conveyor belt. These designs are assigned a percentage suitability for implementation in the automated train carriage cleaning system. Using the key values and the requirements the design should fulfil, a systematic investigation is undertaken. This investigation finds the conveyor belt design most appropriate for application due to the sustainable design and effective cleaning that can be undertaken without additional tools.
Original languageEnglish
Pages (from-to)804-809
Number of pages6
JournalProcedia CIRP
Publication statusPublished - 2 Jun 2021
Event31st CIRP Design Conference 2021 - University of Twente, Twente, Netherlands
Duration: 19 May 202121 May 2021


  • Robot design
  • cleaning robots
  • grasping objects
  • industrial robots
  • manipulator design

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering


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