application of segway machine for floor cleaning with ... · web viewfloor cleaning machine should...

Application of Segway Machine for Floor Cleaning with Adjustable Wiper

CHAPTER 1

INTRODUCTION1.1 RELEVANCE

Fully automatic machines are available in the market are of high ranges. So,

keeping the focus on cost factor, they are not affordable to all. The organization

committee of hostels, hospitals, hotels can’t afford these costs. Hence, there is need to

develop floor cleaning machine which is cost effective using renewable sources. In

crowdie places such as railway stations floors are not regularly cleaned due to hectic

work of sweepers and non-availability of machines because of this, hygienic

environment is not maintained. In India, especially in summer there is power crisis, in

majority of places. Hence floor cleaning using floor cleaning machine is difficult

without electricity. To overcome this problem, an alternative is made by using solar

energy. Considering assembly, weight, handling design machine is flexible. Provision

is made for water spraying. Main mottos of research are:

• To reduce the human effort and cost.

• To make the environment sanitary.

Floor cleaning machine should provide a safe and healthy environment for

residents and visitors, and cleaning of common spaces plays a vital role. Cleaning

should be an environmental enhancement, not a source of unintended pollution. By

definition, cleaning is the removal of unwanted matter, contaminants, or pollutants

from the environment, or the prevention of soiling; thus, it is or should be green.

Cleaning is about removing pollution, not adding to it.

1.2 HISTORY OF FLOOR CLEANING MACHINES

Previously the floor cleaning is done by manually by using wiper or cloth.

But this process was time consumable and required more efforts and these were costly.

The first useful electric-powered floor cleaning machines date back to the early 1900s.

Coincidentally, this was about the same time vacuum cleaners were introduced, the first

floor cleaning machines were known as "divided-weight" machines. With these

machines, the bulk of the weight of the machine was on its rear wheels, which will

remains on the floor during cleaning of floor. These early machines used brushes made

Of Tampico and Bassine. Divided-weight machines lacked sufficient speed, weight,

and pressure over the brush to produce a high-gloss shine, and they were hard to

FTCCOER, SANGOLA 2016-17


Maneuver. The major benefits for the user were that the machines were faster and less

strenuous to use than floor cleaning by hand. Floor cleaning technology continued to

advance, further extending the length of time required between refinishing. By the

1970s, rotation speeds of 750 to 1,000 rpm were common. Because of the higher rpm,

some floor finishes "fractured" or "powdered" under the faster machines, and often

pads would quickly degrade because of the speed.

1.3 INTRODUCTION TO SEGWAY MACHINE

The Segway was introduced in the year 2001 by Dean Kamen. It is a two-

wheeled, self-balancing, battery powered electronic vehicle that maintains its own

balance. It is equipped with a stationary t-shaped control shaft fitted into a platform

mounted on two parallel wheels. The device has no brakes or accelerator, but has a

hand switch for making turns. It is the only vehicle able to turn in place, just like a

person, because its wheels have the ability to turn in opposite directions.

The design which we have come with will cost the Segway around 8,000 as

compared to original Segway which costs around 3 lakhs plus tax, thus making the

product cost effective. The Segway is a two-wheeled, self-balancing, battery-powered

electric vehicle. The Segway has a maximum range of 25 km in optimal use conditions

(Wind, flat terrain and constant speed) or 17 km in normal use conditions.

The main purpose is to design and construct a fully functional two wheeled

balancing vehicle which can be used as a means of transportation for a single person

which is act as an operator for floor cleaning machine.







1.4 HISTORY OF SEGWAY MACHINE

The word “Segway” was derived from word “segue” which means smoothly

transportation from one place to another. What was once a mysterious invention created

by Dean Kamen that had everyone speculating as to what it was, is now known as the


https://www.thoughtco.com/segway-human-transporter-1992424

https://www.thoughtco.com/segway-human-transporter-1992424


Segway Human Transporter, the first self-balancing, electric-powered transportation

machine. The Segway Human Transporter is a personal transport device that uses five

gyroscopes and a built-in computer to remain upright.

It was unveiled to the public on December 3, 2001 in Bryant Park (NYC) on

the ABC News morning program Good Morning America.

The first Segway Human Transporter used no brakes and did a nifty 12 mph.

The speed and direction (including stopping) were controlled by the rider shifting

weight and a manual turning mechanism on one of the handlebars. The initial public

demonstrations showed that the Segway could travel smoothly across pavement, gravel,

grass, and small obstacles.

Dynamic Stabilization

Dean Kamen's team developed a breakthrough technology the company

termed "Dynamic Stabilization," which is the essence of the Segway. Dynamic

Stabilization enables Segway self-balancing emulation to work seamlessly with the

body's movements. Gyroscopes and tilt sensors in the Segway HT monitor a user's

center of gravity about 100 times a second. When a person leans slightly forward, the

Segway HT moves forward. When leaning back, the Segway moves back. One battery

charge (cost of ten cents) lasts 15 miles and the 65-pound Segway HT can run over

your toes without causing you harm.

The United States Postal Service, the National Park Service and the City of

Atlanta field tested the invention. The consumer was able to buy the Segway in the year

2003 at the initial cost of $3,000. Segway produced three distinct initial models: the i-

series, the e-series, and the p-series. However, in 2006 Segway discontinued all

previous models and announced their second-generation designs; i2 and x2, that also

allowed users to steer by leaning the handlebars to the right or left, which matched the

leaning forward and backward to accelerate and decelerate.

1.5 IMPORTANCE OF PROJECT AREA

The cleaning of the floor is now a days most important task any domestic

and indutrial application.It is important for asthetic point of view as well as human

health.

In any application like hospital,office,organisation or house the cleaning is more

important work.



The manually floor cleaning is time consumable and required more efforts

and cost of operation is also more.The automatic operated floor cleaning machines are

work more faster and hence it is less time consumable.But most of the automatic

machines are more bulky and cost of the machine is relatively more than conventional

method.

Some importance of the Segway machine used for floor cleaning are as

follow:

1. The Segway machine is self balancing-two-wheeler vehicle that is driven by

rehargeable batteries. This has the most creative, innovative design giving it the

best features.

2. This are having nice way of including fun and exciting moments in people. Apart

frm the fun, safety, and comfort are key requirements.The design of Segway

machine for floor cleaning is innovative in nature.

3. It has a two-wheel design unlike the common automatic floor cleaning machine

have four wheels and these are more bulky. Because of this Segway machine is

more compact and easier to control.Segway machines are light in weight.The

material from which it is made is light in weight making it more efficient in

handling.

4. This machine can be used both indoors and outdoors. It operated using a battery.

Hece, it does not need any fossil fuels to be powered. Therefore, it is

ecofriendly.Battery is pocket friendly and it is affordable.

1.6 PROBLEM IDENTIFICATION

The cleaning of the floor is now a days most important task for any domestic

and indutrial application.It is important for asthetic point of view as well as human

health.In any application like hospital,office,organisation or house the cleaning is more

important work.









Fully automatic machines are available in the market are of high ranges. So,

keeping the focus on cost factor, they are not affordable to all. The organization

committee of hostels, hospitals, hotels can’t afford these costs. Hence, there is need to

develop floor cleaning machine which is cost effective using renewable sources. In

crowdie places such as railway stations floors are not regularly cleaned due to hectic

work of sweepers and non-availability of machines because of this, hygienic

environment is not maintained.

There are some problems to floor cleaning with existing mrthod of floor cleaning:

1.6.1 Manually floor cleaning:

The manually floor cleaning is time consumable and required more efforts

and cost of operation is also more.The automatic operated floor cleaning machines are

work more faster and hence it is less time consumable.But most of the automatic

machines are more bulky and cost of the machine is relatively more than conventional

method.



Fig 1.6.1 Manually floor cleaning.

1.6.2 floor cleaning by using machine:

The floor cleaning machines are work more faster and hence it is less time

consumable.But most of the floor cleaning machines are more bulky and cost of the

machine is relatively more than conventional method. The operation of the floor

clening by using machine is becomes more complicated due to wiring and additional

attachment with machine.



Fig. 1.6.2 floor cleaning by using machine.

1.7 OBJECTIVE OF PROJECT

Segway machine is used for floor cleaning with the help of wiper and sprayer

attachment.

To prepare the Segway machine without using complex and electronic parts

such as microcontroller, gyroscope etc.



To prepare floor cleaning machine with low cost and highly efficient.

CHAPTER 2

LITERATURE VIEW1. M.Thompson. Beula, Julietta Mary in the Journal International Journal of

Mechanical and Industrial Technology ISSN 2348-7593 (Online) Vol. 2, Issue 1, pp.

(78-82), Month: April 2014 - September 2014.



Design and Fabrication of Fail Safe Segway Personal Transporter. In this

paper Segway was designed to overcome the cost of the actual Segway and to provide zero

pollution and also this seaway doesn’t use the gyroscope unit which keeps the Segway in the

flat position instead this is achieved by the supporting wheels.

This design and fabrication paper on fail-safe Segway personal transporter is

aimed at providing a zero pollution environment and cut short on the costs of the actual

Segway this also provides solution for making the Segway topple safe this paper has

wide scope for research in the braking and supporting systems. They have reduced the

cost from three lakhs to ten thousand but with little more updating the Segway can be

turned into a full fledge personal transportation with a cost of twenty five thousand Cad

model.

2. Susan A. Shaheen and Rachel Finsen in the Journal of Chemical Pharmaceutical

Sciences (Shaheen, 2003).

From the paper sheds light on how efficient transit station access is often

limited and a more comprehensive approach is needed that offers more connectivity,

flexibility, and potentially increase transit ridership. The paper outlines a Segway pilot

research project that explores safety and training issues and transit feeder service

demand across various locations in the USA and aims at providing answers about

consumer acceptance, safety, land use, market potential. From this paper the use of

non –traditional molality aids is increasing .The main purpose of this paper to design

human transporter machine with low cost as compared to original Segway.

3. Prof.Ms.Swati Pawar, Naman Aggarwal, Piyusha C, Akshay in the Journal of

MIJRE|Vol.03 No.05|May2016.

Only One Robot Manually Build. Technological survey on cleaning Robot.

Building mobile Robot for floor cleaning in domestic application. The results presented

in this work have been obtained using only one robot manually build and thus no

generalization can be directly assumed for an hypothetical industrial massive

production. However, the results for this particular realization shows the good accuracy

of the designed ultrasonic driver that has been tested and used for lateral positioning

error correction and map building. A, prototype of the rotating brush device is made

manually to ensure the cleaning effect of the proposed system.



4. Sahil Bharti,S.R.Sadhave,H.Ramkumar,S.Ishawarya Lakshmi, International Journal

of soft Computing And Artificial intelligence,ISSN:2321-404X Vol-1,Issue-1.

A mechanical setup is designed with the synergies of pneumatics and

electronics to provide efficient cleaning system both at ground and as well as window

levels. This contemporary design helps to overcome the limitations of the existing

technologies and surpass them in terms of robot capability, modularity and payload by

integrating on the modular design the wall climbing robot are expected to attain

superior intelligence to other small robots in similar caliber.

5.Vardhaman Ladage, Shardool Jawanjal, Dyanesh Kamat, Rutuja Kamatkar,

Bhagyashri Kadam, International Journal of Design and Manufacturing Technology

(IJDMT) Volume 8, Issue 1,January-April,pp.01-07, Article ID:IJDMT_08_001.

This article is based upon on our innovative project to design, development and

manufacturing of semi-automatic floor cleaning machine which will work on solar

energy, battery or electricity. A semi-automatic floor cleaning machine is developed by

keeping basic consideration for less energy consumption, machine as well as

operational cost reduction, reduce the human effort, environment friendly and easy to

handle. Base of the project was to use renewable energy which is abundant in most of

the countries, will have less environmental impact and easy to construct for commercial

scale in future.

Semi- automatic floor cleaning machine is designed and manufactured using

D.C Motor and wiper mechanism. Manufactured machine is flexible and effortlessly

operated. Effective use of solar energy conserves electricity. The need of this project is

satisfied and with the help of machine, cleaning of the floor can be done easily.

CHAPTER 3

DESIGN OF SEGWAY FLOOR CLEANING MACHINE3.1 CALCULATING TORQUE

Consider weight of rider = 80 kg



Chassis weight including batteries = 30 kg

Therefore, Total weight=110 kg (approx.)

Coefficient of friction between road and tire = 0.3

Torque required = Coefficient of friction*Friction Force * Radius of Wheel

T = 0.3*110(kg)*10(cm)

T = 3.30 kgf-m (Approx.)

As two motor are used. Therefore torque required by each motor = 1.65kgf

–m (Approx.)

3.2 CALCULATING STRESS

Stress: It is the intensity of internal resistance offered by a body/material against

deformation.

Stress= Resisting force per unit area (or) load/area

• The weight acting on the Segway = weight of the Segway + weight of the user.

• Weight of the Segway =30kg

• Max Weight of the user = 80kg

• Total weight acting on the Segway = 30+80 = 110kg

• Load acting on the Segway= 110X9.81 = 1079.1 N

• Area of the Segway chassis = 300X450mm = 135000mm2

•Stress acting on the frame or chassis of the Segway = 1079.1/250000

=7.993X10-3MN

The stress acting on the frame of the Segway is very less than the allowable stress of

the mild steel. So, the design is safe.

Yield stress: The yield stress or yield strength of the material, beyond which the

material is said to start yielding.

• The maximum weight acting on the chassis of the Segway = 200kg

• The area of the frame =300X450=135000mm2

• Yield stress= yielding load/area



• Load acting= massX9.81= 200X9.81 = 1962 N= 1962/135000 = 0.0145MN

• The yield stress developed due to the max load is far less than the yield stress of the

mild steel. Hence the design is safe.

Factor of safety = the ratio of ultimate load to allowable load is known as factor of

safety

• Factor of safety= Ultimate load/Allowable load

• The ultimate load acting on the Segway chassis = 200X9.81 = 1962N

• The allowable load acting on the Segway chassis = 110X9.81 = 1079.1 N

• Factor of safety = 1962/1079.1= 1.8182

• Design factor of safety = 2

• The factor of safety for our Segway is less than the designed factor of safety. Hence

the Segway design is safe.

CHAPTER 4

FABRICATION OF SEGWAY FLOOR CLEANING MACHINE4.1 EQUIPMENT’S



4.1.1 TIRE

Fig. 4.1.1 Tires of floor cleaning machine

The type of drive in a Segway is two wheel drive. In which both the wheels are

driving wheels. The diameter of the wheels are 200 mm. The powers from the motors

are transferred to the wheels independently or separately. The motors shaft is welded to

the wheel shaft for the transfer of motion between the wheels and the motor. The final

parts of the drive are the wheels and tires, which transfer the power generated by the

motor to the ground.

4.1.2 MOTORS



Fig 4.1.2 motors of floor cleaning machine

Motor is fixed with the chassis through screwed bolts and it is the main source

of power to drive the vehicle. There are two motors, each for one wheel. The motors

are driven by two 12V batteries arranged. The maximum torque provided by the motor

is 1.8kgf-m Approx. The motors are 60 rpm 12v are used for floor cleaning machine.

4.1.3 BATTERY



Fig. 4.1.3 BATTERY

The battery which we used for our Segway machine is a 12v and 7AH lead acid

batteries and these batteries are rechargeable. The batteries are connected in parallel

and are connected to the control unit from which the power is transferred to the motors.

The total charging time will be some 2-3 hours.

4.1.4 SPRING LOADED TOGGLE SWITCH



Fig. 4.1.4 Spring loaded toggle Switch

Spring loaded toggle switch used to guide the direction of rotation of motor

shaft. By operating the switch the direction of vehicle can be controlled. Connecting

wires are used to connect switch with motor. The switch is used for turning the

machine in any direction i.e. left and right.

At the front side of the machine one handle is attached on which switch is fixed.

It is connected to motor of wheels and battery with the help of connecting wires.

4.1.5 SUPPORTING WHEEL



Fig. 4.1.5 Supporting wheel

Supporting wheel is used to Segway machine. The purpose of small supporting

wheel is to balance properly; there is no need to gyroscope for the balancing purpose.

Also easy to assemble and dis-assemble. There are two supporting wheels are having

70 mm diameter is attached to the floor cleaning machine that is at front side and rear

side.

The supporting wheels are used for proper balancing of floor cleaning when

operator is stand on the machine. Because of supporting wheels there is no need of

gyroscope.



4.1.6 CHASSIS

Fig. 4.1.6 Chassis

Chassis is made up of mild steel and four mild steel bars is used to make the

frame. To make the chassis to balanced, four mild steel bars of equal weight are used. It

is engaged firmly with the help of welding. Welding is used to connect all the bars.

Wheels are attached to the middle of frame in order to withstand the load capacity.

Handle is also made up of same material to which toggle switch is fixed.



4.1.7 REAR WIPER

Fig.4.1.7 Rear wiper

This wiper is attached at the front side of the floor cleaning machine. The size

of this wiper is 190*260 mm. There are three wipers are attached at the back side which

is remove the relatively large size dust, and other particles on the floors.



4.1.8 FLOOR CLEANING WIPER

Fig. 4.1.8 Floor cleaning wiper

This wiper is attached at front side of the floor cleaning machine. This wiper is

made up of high quality cotton. The size of this wiper is 450*100 mm. This wiper is

used for cleaning the floor. Only one wiper is attached at the front side of the floor

cleaning machine.



4.1.9 HANDLE OF THE FLOOR CLEANING MACHINE

Fig.4.1.9 Handle of machine

The handle of floor cleaning machine is attached at front side of the chassis. The

rectangular section mild steel material is used for handle of the machine. It is adjustable

in height for various height of operators. The maximum height of handle is 930 mm

and minimum height is 780 mm. At the top end the horizontally pipe is inserted for

holding purpose. Two toggle switch are also attached on the handle to turn the machine

in any direction.



4.2 PRINCIPLE COMPONENTS OF FLOOR CLEANING

MACHINEThe components of machine

4.2.1. FRAME OR CHASSIS:

The Segway we have fabricated has a rectangular shaped chassis. This chassis is

made from mild steel pipe. The pipes used are medium gauge one inch hallow square

pipe. This pipes are welded together to form the chassis of the Segway. This are joined

in such a way it form a 300X450 mm square shaped member. At the center of the frame

another square pipe is added to increase the strength and weight carrying capacity of

the frame. On top of the frame mild steel sheet is added to provide the platform for

standing on the frame.

4.2.2. DRIVING MECHANISM:

The drive train is the heart of the automobile. In our Segway the drive train

includes two DC motor and rechargeable battery which are charged to drive the motor.

The type of drive in a Segway is two wheel drive. In which both the wheels are driving

wheels.

The powers from the motors are transferred to the wheels independently or

separately. The motors shaft is welded to the wheel shaft for the transfer of motion

between the wheels and the motor. The final parts of the drive train are the wheels and

tires, which transfer the power generated by the motor to the ground.

4.2.3. MOTORS:

The motors used in our Segway are dc motors with a voltage of 12v, 60 rpm and

with a power of 90watt.

4.2.4. BATTERY:

The battery which we used for our Segway is a 12v and 7 amph lead acid

batteries and these batteries are rechargeable. The batteries are connected in parallel

and are connected to the control unit from which the power is transferred to the motors.

The total charging time will be some 2-3 hours.

4.2.5. CONTROL UNIT:

The control unit of a Segway is the brain of the Segway. It plays a very

important role behind every operation of the Segway. The signals which ever are given



to the Segway are transmitted through the control unit to the motors. For the Segway to

run the control unit is needed. The operation of the control unit will be in accordance

with the switches, when the switches are pressed the signals are transferred from the

control unit to the motors.

4.2.6. ASSEMBLY OF MACHINE

i. Two motors are placed in the opposite side of the chassis and they are attached

to the frame by c-clamps.

ii. Motor shaft is fitted in coincidence with the wheel shaft.

iii. Segway wheels are attached on the motor shaft.

iv. Handled bar is fitting in the front side of chassis.

v. Later the two shafts are joined together by the process of welding.

vi. Wheels are assembled to the frame or chassis by using ball bearings and c-

clamp.

vii. The handle bar is attached to the Segway on the top of the chassis at the front

side of Segway, on which toggle switch is fixed.

viii. Wiper is attached to frame and chassis at the back side.



Fig 4.2 Complete assembly of the floor cleaning machine



CHAPTER 5

RESULT AND DISCUSSION

5.1 COST ANALYSIS

Table 5.1 Total cost of machine

Components Quantity Cost (Rs)

Motor 2 4000

Wheels 2 600

Frame materials 1200

Battery 1 1000

Stud & Nut 37 600

Wiper 1 350

Switch 2 70

Motor (sprayer) 1 300

Extras part 230

Fabrication 400

Total 8750

5.2 RESULT AND DISCUSSION:

Above table shows the total cost for Design and fabrication of floor cleaning

machine by using Segway. The total cost of this floor cleaning machine is around 9000/

which will less than existing floor cleaning machine. The design which we have come

with cost the Segway around 9,000 as compared to original Segway which costs around

3 lakhs plus tax, thus the product is cost effective. The product thus developed is fully

operational and gives desired motion. It is being tested in college campus which results

in successful outcome.



5.3 ADVANTAGES

1. Floor cleaning by using Segway machine required less time.

2. Human effort required for floor cleaning by using this machine is reduced.

3. Floor cleaning operation by using this machine is quite easy because efforts

required are less.

4. Flexible i.e. it can be operated on battery or direct A.C supply.

5. User friendly, requires less human efforts.

6. Reduced water consumption.

7. Greater cleaning efficiency.

8. Cost effective & portable.

9. Low maintenance

5.4 DISADVANTAGES

1. The speed of the machine is more hence, on very smooth surfaces more chances

of skidding of tyres.

2. The size of the frame is relatively small and it uses two wheels so, it required

perfect balancing for operator.

3. The wiper is attached to machine is fixed It is not used in rough surfaces.



CHAPTER 6

CONCLUSION AND SCOPE6.1 CONCLUSION

The product thus developed is fully operational and gives desired motion. It is

being tested in college campus which results in successful outcome.

The main aim to design the semiautomatic floor cleaning machine with low cost up

to 9000/ rupees compared to existing floor cleaning machine cost is successfully

achieved.

The need of this project is satisfied and with the help of machine, cleaning of the

floor can be done easily.

Floor cleaning machine by using Segway is one of the safest and most sophisticated

in terms of design for the application of floor cleaning.

Semi- automatic floor cleaning machine is designed and manufactured using D.C

Motor and wiper mechanism. Manufactured machine is flexible and effortlessly

operated.

Very rough surface cannot be good cleaned

6.2 FUTURE SCOPE

There are still new ideas to improve the developed system and to add new functionality

to it:

1. This has wide scope for research in the braking and supporting system for Segway

used for floor cleaning machine.

2. Adjustable size of the wiper is used so, any shape and size of floor to be cleaned.

3. Provide the lighting system to this machine so, it will used in night with the help of

head light.

4. Minimize the number of equipment used for this floor cleaning machine so this

machine will more compact and hence reduction in overall cost of machine.



REFERANCES

1. M.Thompson. Beula, Julietta Mary in the Journal International Journal of

Mechanical and Industrial Technology ISSN 2348-7593 (Online) Vol. 2, Issue 1,

pp. (78-82), Month: April 2014 - September 2014.

2. Susan A. Shaheen and Rachel Finsen in the Journal of Chemical Pharmaceutical

Sciences (Shaheen, 2003).

3. Prof.Ms.Swati Pawar, Naman Aggarwal, Piyusha C, Akshay in the Journal of

MIJRE|Vol.03 No.05|May2016.

4. Sahil Bharti,S.R.Sadhave,H.Ramkumar,S.Ishawarya Lakshmi, International

Journal of soft Computing And Artificial intelligence,ISSN:2321-404X Vol-

1,Issue-1.

5. Vardhaman Ladage, Shardool Jawanjal, Dyanesh Kamat, Rutuja Kamatkar,

Bhagyashri Kadam, International Journal of Design and Manufacturing

Technology (IJDMT) Volume 8, Issue 1,January-April,pp.01-07, Article

ID:IJDMT_08_001.

6. From Journal Design and Fabrication of Fail Safe Segway Personal Transporter.

7. Future of Segway: Introduction to Segway.

8. Liu, R. And Parthasarathar, R. “Segway Human Transporter (HT): Potential

Opportunities And Challenges For Transportation Systems,” Presented At The

82nd Annual Meeting Of The Transportation Research Board, Washington, DC.

(2003).

9. A Thomas, Rohith M.S, F. Jolly, J. Cheriyan “An Advanced Robot for Floor

Cleaning” IJAREEIE Vol.5, Special Issue 3, March 2016.

10. Manreet Kaur, Mohali Preeti Abrol, .19, July 2014, “Design and Development

of Floor Cleaner Robot (Automatic and Manual)” International Journal of

Computer Applications (0975 – 8887) Volume 97.

11. “THEORY OF MACHINES”, Rattan S.S. Tata McGraw Hill, 3rd edition.

12. “M. Ranjitkumar, N. kapilan, Design and analysis of manually operated floor

cleaning machine, International journal of engineering and technology, 2278-

0181,vol:4 Issue 04, April – 2015.


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