Design and realization of a non-actuated glass-curtain wall-cleaning robot prototype with dual suction cups

Qian, Zhi-yuan; Zhao, Yanzheng; Fu, Zhuang; Cao, Qixin

doi:10.1007/s00170-005-0031-z

Cited by 48 publications

(18 citation statements)

References 15 publications

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“…100,102 The robot does not have its own driving mechanism, but can move on smooth glass surfaces by depending on gravity and the lifting force of the trolley crane on the roof, while adhering to the surfaces using dual vacuum suction cups (Fig. 12).…”

Section: Cable-driven Locomotionmentioning

confidence: 99%

“…Over the last few decades, a great number of studies have been devoted to climbing robots, and various types of experimental prototypes and products have been proposed. With respect to the locomotive mechanism, climbing robots can be divided into six categories: legged type, wheel-driven type, [53][54][55][56][57][58][59][60][61][62][63][64][65][66][67][68][69][70] tracked type, [71][72][73][74][75][76][77][78][79][80] translation type, [81][82][83][84][85][86][87][88][89][90][91][92][93][94][95][96] cabledriven type, [97][98][99][100][101]…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A survey of climbing robots: Locomotion and adhesion

Chu

Jung

Han

et al. 2010

Int. J. Precis. Eng. Manuf.

211

105

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Climbing robots are robotic systems to move over 2D or complex 3D environments such as walls, ceilings, roofs, and geometric structures and to conduct various tasks. They will not only replace human workers for carrying out risky tasks in hazardous environments, but also increase operational efficiency by eliminating the costly erection of scaffolding and staffing costs. Climbing robots have special characteristics and the ability to adhere to different types of 2D or 3D surfaces, move around, and carry appropriate tools and sensors to work, while self-sustaining their bodies. Therefore, the most significant criterion for designing a climbing robot is to equip it with an appropriate locomotive and adhesion mechanism for adapting to the given environmental requirements. In this paper, a classification of climbing robots and proper examples with a brief outline are presented with considerations of the locomotive and adhesion mechanisms. Also, a list of climbing robots is provided with respect to fields of application that range from cleaning tasks in the construction industry to human care systems in the biomedical service industry.

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Section: Cable-driven Locomotionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A survey of climbing robots: Locomotion and adhesion

Chu

Jung

Han

et al. 2010

Int. J. Precis. Eng. Manuf.

211

105

View full text Add to dashboard Cite

show abstract

“…Qian et al have developed a lifted type wall climbing robot via a rope from the roof without using any actuators on board [60,88]. The robot does not have independent actuation force; instead, it can move up and down by utilizing its own weight and a lifting force from a crane at the rooftop.…”

Section: Rope And/or Rail Grippingmentioning

confidence: 99%

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Nansai

Elara

2016

Robotics

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Abstract:In recent decades, skyscrapers, as represented by the Burj Khalifa in Dubai and Shanghai Tower in Shanghai, have been built due to the improvements of construction technologies. Even in such newfangled skyscrapers, the façades are generally cleaned by humans. Wall climbing robots, which are capable of climbing up vertical surfaces, ceilings and roofs, are expected to replace the manual workforce in façade cleaning works, which is both hazardous and laborious work. Such tasks require these robotic platforms to possess high levels of adaptability and flexibility. This paper presents a detailed review of wall climbing robots categorizing them into six distinct classes based on the adhesive mechanism that they use. This paper concludes by expanding beyond adhesive mechanisms by discussing a set of desirable design attributes of an ideal glass façade cleaning robot towards facilitating targeted future research with clear technical goals and well-defined design trade-off boundaries.

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“…Reasons for selecting implicit force control are that model is not needed and approach velocity is limited during no contact and well performance of regulating force during contact. Approach velocity is determined by equation (4). Velocity is proportionate to error between desired force ( ) and current force sensing data ( ).…”

Section: Position and Force Controlmentioning

confidence: 99%

“…To resolve this, robotic systems for maintaining building wall have been developed [1][2][3][4]. One of them is based on built-in guide rail [1].…”

Section: Introductionmentioning

confidence: 99%

Force Control of Cleaning Tool System for Building Wall Maintenance Robot on Built-in Guide Rail

Shin¹,

Moon²,

Kwon³

et al. 2014

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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-In modern days, there has been an increasing trend to build high-rise buildings. Until now, the methods to maintain building wall have relied on human efforts. However, there exist dangers and difficulties caused by height of buildings. Due to this problem, the need for system that can maintain building wall has been increasing and various systems have been developed. On this, the building maintenance robot that is used for built-in guide rail and tool system for cleaning wall of building was developed. Cleaning tool system equipped to building maintenance robot system has squeezing and injection functions. This system operates with spreading the water through injection part and eliminating dust and contaminants using squeezing module. Throughout this process, flow control is needed to spread water evenly on window at the changing velocity of robot. Also, the angle of the squeezing module and the force which is applied to window should be controlled to prevent damage of wall and to remove contaminants completely. This paper suggests algorithms for control of position and force of the squeezing module to implement cleaning building window composed of segmented faç ade. In addition, flow control algorithm for uniform injection is proposed. After that, the results of experiment in consistent robot velocity and transition of squeezer angle were shown and analyzed.

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Design and realization of a non-actuated glass-curtain wall-cleaning robot prototype with dual suction cups

Cited by 48 publications

References 15 publications

A survey of climbing robots: Locomotion and adhesion

A survey of climbing robots: Locomotion and adhesion

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Force Control of Cleaning Tool System for Building Wall Maintenance Robot on Built-in Guide Rail

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