The Fraunhofer Institute for Factory Operation and Automation (IFF) is intensively exploring possibilities for robots to engage in various service tasks, especiallyfirllyautomatic systems for facade cleaning. We have already designed and built a variety of different facade cleaning robots and concepts. These robots and concepts are based on various motion systems (i.e. walking mechanisms, wheeled vehicles, balloon-based systems, etc.) that are specially-suited for motion along dflerent building types. This paper gives an overview about different facade cleaning robots developed by the Fraunhofer IFF: The facade cleaning robot, SIRllJSc, for use on skyscrapers, the robot to clean the 25,000 mz vaulted glass hall of the Leipzig Trade Fair in Germany, as well as the completed concept for a balloon-based robot for cleaning the inner side of atriums and glass roofi are discussed here. The unique aspects of the main components of these robots will be addressed in particular

Fraunhofer Institute for Factory Operation and Automation (IFF). SIRIUS is a climbing robot meant for any vertical surface, regardless of the angle. The robot can be outfitted with tools to perform a variety of service‐sector tasks such as façade cleaning, building and ship coating, ship welding, inspection work on tanks, and so on. It is a modular system, and the robot can be adapted to almost any surface, independent of the surface material or obstacles. The robot stays attached to the surface via suction cup feet or magnetic grippers, and moves vertically on four linear guides that are coupled in two pairs. The new kinematics of the robot allow it to walk continuously in all directions. The robot overcomes obstacles by sensing their position and generating the necessary step length in order to maximize the number of suction cups attached to the surface while walking over the obstacle.

The Fraunhofer Institute of Factory Operation and Automation (IFF) is intensively exploring various service tasks such as cleaning facades, coating buildings and ships, and inspecting structures. To this end, the Fraunhofer IFF developed a modular robot system for movement on vertical or steeply-inclined surfaces. The control of the system is based on a modular programmed on-board PLC. The program structure and it flexible routines allow the robot to automatically overcome typical facade obstacles without preprogrammed data by sensing their position and then generating the necessary steps in order to avoid them. The robot employs a "Sliding Module" kinematics system, which has, in certain applications, many advantages over the original "Sliding Frame" kinematics system. The robot is designed to carry a tool to perform various tasks on a surface. The current prototype, SIRIUS C, carries a cleaning tool and can automatically clean the facades of skyscrapers

No abstract

Recent technological developments have promoted robots beyond tasks associated solely with factory automation. The Fraunhofer Institute of Factory Operation and Automation (IFF) has developed a modular robotic platform called SIRIUS for the dull and dangerous processes associated with work on large vertical surfaces. Its design features are described and its utilization as a facade cleaning robot show its applicability.