Kinematics, Sensors and Control of the Fully Automated Facade Cleaning Robot Siriusc for the Fraunhofer Headquarters Buildung, Munich

This paper presents design of a climbing robot for inspection of glass curtain walls. The double-chamber structure enables the robot to climb over grooves on the glasses. In order to reduce the weight, both number and shape of the chambers are specially considered, and the pressure structure is optimized by FEA method. The statics models of different adsorption situations are also analyzed and deduced for the operational safety. In addition, design of the working arm and the wireless control system are introduced in detail. Finally, experiments of the robot are illustrated, including adsorption on different surfaces, vertical and horizontal groove-crossing as well as glass inspection. These experiments fully prove the theoretical analysis and demonstrate the climbing performance of the robot.

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“…Round shape robots (a) LARVA robot [15] (b) Alica robot [4] (c) WWCR robot [16] (d) A robot designed by BeiHang University…”

Section: Adsorption Structurementioning

confidence: 99%

A Low-Cost, Light-Weight Climbing Robot for Inspection of Class Curtains

Liang

Altaf

Ahmad

et al. 2014

International Journal of Advanced Robotic Systems

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“…Common and well-known methods are, e.g. passive suction cups, 6,24,31 molecular adhesion (Gecko principle), 16,26 magnetic adhesion 7,22 and claws. 1,15,25 These adhesion technologies are not suitable for inspecting vertical concrete structures due to the rough surface, missing ferromagnetic material or low payload.…”

Section: Motivation and State Of The Artmentioning

confidence: 99%

Omnidirectional locomotion and traction control of the wheel-driven, wall-climbing robot, Cromsci

Schmidt¹,

Hillenbrand²,

Berns³

2011

Robotica

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Safe and cost-efficient inspection of large concrete buildings is a great challenge for mobile robots. This paper presents the locomotion system of the climbing robot, CROMSCI, which uses three steerable standard wheels and negative pressure adhesion. We will introduce criteria to avoid robot slip and tilt, and methods to enhance stability. One elementary part is the close-loop-controlled adhesion system with seven individual negative pressure chambers to balance out tilt or dynamic effects caused by leaky pressure chambers. The second part is the locomotion control using a special traction control mechanism to enhance robot navigation, which will also be presented here.

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“…However, Figure 1 shows that to ensure a constant area for cleaning of high-rise buildings under frequent swinging due to wind, resisting or compensating for horizontal directional shaking is necessary. Among the existing solutions, robots mounted on a gondola or hung from the upper part of the building suffer from the limitation in that they cannot compensate for the horizontal shaking due to wind [4]- [6]. In some cases, the gondola has a vertical linear guide to maintain the lateral directional disturbance; however small lateral directional error is very critical to the cleaning performance to fail the cleaning operation [7]- [9].…”

Section: Introductionmentioning

confidence: 99%

Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade Cleaning

et al. 2020

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This paper proposes a three-degree-of-freedom manifold composed of three linear actuators. The proposed mechanism consists of a workspace suitable for facade cleaning and can compensate for the horizontal position from disturbances in a gondola-based exterior-wall cleaning. We design a cleaning manipulator that can ensure a constant cleaning area by compensating for the disturbance in each direction. The position, velocity kinematic, and Jacobian-based singularity analysis are presented, and kinematic variables are defined to extend a singularity-free workspace. In addition, optimization is performed based on an index that demonstrates the mechanical properties of the manipulator. The result shows how the manipulator compensates for the disturbances as well as the features of the optimization model. This study can be applied to robot manipulators for facade cleaning in the future.

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Kinematics, Sensors and Control of the Fully Automated Facade Cleaning Robot Siriusc for the Fraunhofer Headquarters Buildung, Munich

Cited by 7 publications

References 0 publications

A Low-Cost, Light-Weight Climbing Robot for Inspection of Class Curtains

A Low-Cost, Light-Weight Climbing Robot for Inspection of Class Curtains

Omnidirectional locomotion and traction control of the wheel-driven, wall-climbing robot, Cromsci

Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade Cleaning

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