Design and analysis of the cable-driven parallel robot for cleaning exterior wall of buildings

Shao, Zhufeng; Xie, Guangqiang; Zhang, Zhaokun; Wang, Liping

doi:10.1177/1729881421990313

Cited by 17 publications

(8 citation statements)

References 29 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The gantry mechanism exhibits three degrees-of-freedom, including a moving base along the guide rail and a cantilever beam with two rotating joints. Shao et al designed a planar four-cable actuated parallel robot and established its kinematics and statics model [89]. Furthermore, the influence of tension on working space was analyzed.…”

Section: F Cable-driven Locomotionmentioning

confidence: 99%

A Survey on Techniques and Applications of Window-Cleaning Robots

Tam

2021

IEEE Access

View full text Add to dashboard Cite

Maintaining a clean living and working environment is an important means to ensure people's quality of life. As the height of the building increases, the traditional method of cleaning windows by human workers not only takes a long time, but also brings the risk of falling off. It is necessary to replace human workers with robots for carrying out such heavy-duty and dangerous work. Various window-cleaning robots have been applied in cleaning work for certain actual scenarios. In this paper, the state-of-the-art survey of recent developments on window-cleaning robots is presented. The applications of window-cleaning robots in two main domains of domestic use and high-rise building environments are presented and the corresponding technical requirements are summarized. Afterward, the main techniques of window-cleaning robot development including locomotion mechanisms, adhesion mechanisms, cleaning mechanisms, and sensor and controller units are reviewed in detail. The survey provides a reference for the readers to design and develop a window-cleaning robot for specific application.INDEX TERMS Window-cleaning robot, automated machine, locomotion mechanism, adhesion mechanism, cleaning mechanism, sensor and controller.

show abstract

Section: F Cable-driven Locomotionmentioning

confidence: 99%

A Survey on Techniques and Applications of Window-Cleaning Robots

Tam

2021

IEEE Access

View full text Add to dashboard Cite

show abstract

“…Artificial maintenance and cleaning require a lot of manpower, material resources, and financial resources . The cleaning of some high-altitude buildings is accompanied by certain risks, and the cleaning efficiency is also very low . The heavy use of cleaning agents will also cause secondary pollution .…”

Section: Introductionmentioning

confidence: 99%

Structure–Activity Relationship between the Superhydrophilic Nanowire Structure and the Oil Dewetting Property

2023

View full text Add to dashboard Cite

Materials require specific surface structures to achieve the best performance, but achieving an optimal structural design requires a systematic study of how structure affects performance. In this work, we comprehensively and systematically investigated the structure−activity relationship between the nanowire structure and the oil dewetting self-cleaning performance. It is easy for an oil droplet to enter this structure, but it is difficult for it to escape from the gaps between the structures even under the action of water. So, the oil dewetting ability is greatly reduced, showing that this "easy to enter and difficult to exit" mode is very disadvantageous for oil desorption. Moreover, if the structure is dissolved during the test, the oil dewetting ability will be restored. The desorption effect is affected by structural parameters and reaction conditions, which further verifies the negative effect of this structure. In contrast, copper(II) oxide nanowires completely lose their selfcleaning ability due to the enhancement of hydrophobicity and oleophilicity, and the larger-diameter copper(II) oxalate nanorods exhibit a "difficult to enter and difficult to exit" mode, leading to the partial recovery of the oil dewetting performance. This study helps us deeply understand the influence of the surface microstructure on the oil dewetting performance and lay a solid foundation for further appropriate structural design.

show abstract

“…K. Iturralde [13] proposed to apply CDPRs to the installation building curtain and conducted an further study of the working space. Shao [14] proposed to apply CDPRs to the field of building exterior wall cleaning and designed the mechanical structure of the robot. Inspired by those applications, this article applied CDPRs to the field of cargo-hold cleaning.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Motion Control Strategy of Cable-Driven Cleaning Robot for Ship Cargo Hold

Han

Chen

et al. 2023

JMSE

View full text Add to dashboard Cite

Ship cargo-hold cleaning is a low-efficiency and high-risk operation in marine industry, which is generally carried out manually, putting the workers in danger. To improve the efficiency and safety of ship cargo-hold cleaning, a C-DCR is proposed in this article. Most research on the dynamics and control of CDPRs has focused on the scenarios with fixed bases; however, the effect of moving-base excitation on the end-effector is largely ignored. In this article, the dynamic model is established based on Lagrange method considering the ship motion and external disturbance, in which the motor model is considered. On this basis, for the high-speed maneuverability of the C-DCR, a modified PD feedforward tracking controller was proposed. Furthermore, the stability of the controller was proved with the Lyapunov Stability Theory. To keep the cable in tension at all times, the tensions are optimized based on the minimum 2-norm method. The simulation results show that the error mean of position is 0.22 m and the angular error mean is 2.8° under ship motion and external disturbance, indicating that the C-DCR has stable, smooth and bounded tracking performance, which will ensure the accuracy of the cleaning operation.

show abstract

Design and analysis of the cable-driven parallel robot for cleaning exterior wall of buildings

Cited by 17 publications

References 29 publications

A Survey on Techniques and Applications of Window-Cleaning Robots

A Survey on Techniques and Applications of Window-Cleaning Robots

Structure–Activity Relationship between the Superhydrophilic Nanowire Structure and the Oil Dewetting Property

Dynamic Modeling and Motion Control Strategy of Cable-Driven Cleaning Robot for Ship Cargo Hold

Contact Info

Product

Resources

About