Realization of a Service Robot for Cleaning Spherical Surfaces

Zhang, Houxiang; Zhang, Jianwei; Liu, Rong; Zong, Guanghua

doi:10.5772/5800

Cited by 32 publications

(30 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Even though significant progress has been made towards the development of wall climbing robots and their component technologies, there still remains numerous challenges towards deploying them in a real-world setting for applications such as glass façade cleaning. This is mainly attributed to the diverse nature of the building types and the uncertain environment in which these robots are expected to operate [71][72][73][74]. One of the grand challenges associated with the design of wall climbing robots is that of developing a general purpose robot that can navigate over any type of wall.…”

Section: Discussionmentioning

confidence: 99%

“…The developed robot is aimed at use at the International Grand Theatre in China. The developed robot consists of two frames, and by use of which, it can climb up the spherically-shaped façade by gripping the sliding rods, which are equipped on the wall surface [71][72][73]. Stability and safety have been studied through extensive kinematic and dynamic analysis both during climbing and cleaning phases [74].…”

Section: Rope And/or Rail Grippingmentioning

confidence: 99%

See 1 more Smart Citation

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Nansai

Elara

2016

Robotics

View full text Add to dashboard Cite

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.

show abstract

Section: Discussionmentioning

confidence: 99%

Section: Rope And/or Rail Grippingmentioning

confidence: 99%

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Nansai

Elara

2016

Robotics

View full text Add to dashboard Cite

show abstract

“…By far, there are 3 adsorption methods for mini-climbing robots to attach to the working surfaces: magnetic adsorption [3][4], vacuum adsorption [5] [7] and molecular adsorption [6]. Magnetic adsorption method can only be used on ferromagnetic surface, so that its application fields are very limited.…”

Section: Introductionmentioning

confidence: 99%

“…The vacuum adsorption method includes active adsorption [7][8] and passive absorption [9] [10]. The active adsorption produces negative air pressure in suction cup by a vacuum device.…”

Section: Introductionmentioning

confidence: 99%

Analysis of two vibrating suction methods

Wang

et al. 2009

2008 IEEE International Conference on Robotics and Biomimetics

View full text Add to dashboard Cite

-In this paper, a novel vibrating method based on the principle of vibrating suction method is presented, which is called pulse vibrating method. To discuss this method in depth and evaluate its performance, simplified mathematical model based on some assumptions for both the previous sin vibrating method and the pulse vibrating method are built, and a new experimental platform is developed as well to verify the validity of the mathematical models. The experiments indicate that the experiments meet the mathematical model with only small deviation caused by some unknown factors. The experimental results also show that the pulse vibrating method is much better than the sin vibrating method for higher negative air pressure and less power consumption. At the end of this paper, conclusion is given and future work is proposed to further analyze the principle of the vibrating suction method.

show abstract

“…However, the robot cannot move sideways. Since 1996, our group has been developing a family of Sky Cleaner autonomous climbing robots with sliding frames for glass-wall cleaning (Zhang, et al, 2005). The first two prototypes are mainly used for research, but the last one is a semi-commercial product designed for cleaning the glass surface of the Shanghai Science and Technology Museum.…”

Section: Introductionmentioning

confidence: 99%