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

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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.

Rotor blades of wind energy converters are highly stressed components subject to constant load cycles. Regular inspections of rotor blades are indispensible for reliable operation and cost effective production without longer downtimes. Insurers and lenders demand routine inspection of rotor blades every two years. The wide range of damage that occurs on rotor blades greatly depends on the construction of the blades. Inspection must primarily detect damage caused by delamination, bonding defects, lightning strikes, air inclusions and cracks. Automated inspection of rotor blades with service robots is one of the Robotic Systems Business Unit's interesting fields of research. This paper presents the results of the joint project RIWEA. The Fraunhofer IFF developed a concept for a robot system that automatically inspects rotor blades

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