Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism
Façade cleaning in high-rise buildings has always been considered a hazardous task when carried out by labor forces. Even though numerous studies have focused on the development of glass façade cleaning systems, the available technologies in this domain are limited and their perfor...
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-11-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/8/12/2398 |
| _version_ | 1811205168600973312 |
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| author | Shunsuke Nansai Keichi Onodera Prabakaran Veerajagadheswar Mohan Rajesh Elara Masami Iwase |
| author_facet | Shunsuke Nansai Keichi Onodera Prabakaran Veerajagadheswar Mohan Rajesh Elara Masami Iwase |
| author_sort | Shunsuke Nansai |
| collection | DOAJ |
| description | Façade cleaning in high-rise buildings has always been considered a hazardous task when carried out by labor forces. Even though numerous studies have focused on the development of glass façade cleaning systems, the available technologies in this domain are limited and their performances are broadly affected by the frames that connect the glass panels. These frames generally act as a barrier for the glass façade cleaning robots to cross over from one glass panel to another, which leads to a performance degradation in terms of area coverage. We present a new class of façade cleaning robot with a biped mechanism that is able overcome these obstacles to maximize its area coverage. The developed robot uses active suction cups to adhere to glass walls and adopts mechanical linkage to navigate the glass surface to perform cleaning. This research addresses the design challenges in realizing the developed robot. Its control system consists of inverse kinematics, a fifth polynomial interpolation, and sequential control. Experiments were conducted in a real scenario, and the results indicate that the developed robot achieves significantly higher coverage performance by overcoming both negative and positive obstacles in a glass panel. |
| first_indexed | 2024-04-12T03:26:10Z |
| format | Article |
| id | doaj.art-70130e83f0b7449dbc22bf5a91ecc838 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-04-12T03:26:10Z |
| publishDate | 2018-11-01 |
| publisher | MDPI AG |
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| series | Applied Sciences |
| spelling | doaj.art-70130e83f0b7449dbc22bf5a91ecc8382022-12-22T03:49:42ZengMDPI AGApplied Sciences2076-34172018-11-01812239810.3390/app8122398app8122398Design and Experiment of a Novel Façade Cleaning Robot with a Biped MechanismShunsuke Nansai0Keichi Onodera1Prabakaran Veerajagadheswar2Mohan Rajesh Elara3Masami Iwase4Department of Advanced Machinery Engineering, School of Engineering, Tokyo Denki University, Tokyo 120-8551, JapanDepartment of Advanced Multidisciplinary Engineering, Graduate School of Advanced Science and Technology, Tokyo Denki University, Tokyo 120-8551, JapanSUTD-JTC I<sup>3</sup> Center, Singapore University of Technology and Design, Singapore 487372, SingaporeEngineering Product Development Pillar, Singapore University of Technology and Design, Singapore 487372, SingaporeDepartment of Advanced Multidisciplinary Engineering, Graduate School of Advanced Science and Technology, Tokyo Denki University, Tokyo 120-8551, JapanFaçade cleaning in high-rise buildings has always been considered a hazardous task when carried out by labor forces. Even though numerous studies have focused on the development of glass façade cleaning systems, the available technologies in this domain are limited and their performances are broadly affected by the frames that connect the glass panels. These frames generally act as a barrier for the glass façade cleaning robots to cross over from one glass panel to another, which leads to a performance degradation in terms of area coverage. We present a new class of façade cleaning robot with a biped mechanism that is able overcome these obstacles to maximize its area coverage. The developed robot uses active suction cups to adhere to glass walls and adopts mechanical linkage to navigate the glass surface to perform cleaning. This research addresses the design challenges in realizing the developed robot. Its control system consists of inverse kinematics, a fifth polynomial interpolation, and sequential control. Experiments were conducted in a real scenario, and the results indicate that the developed robot achieves significantly higher coverage performance by overcoming both negative and positive obstacles in a glass panel.https://www.mdpi.com/2076-3417/8/12/2398glass façade cleaning robotwall climbing robotbiped mechanism |
| spellingShingle | Shunsuke Nansai Keichi Onodera Prabakaran Veerajagadheswar Mohan Rajesh Elara Masami Iwase Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism Applied Sciences glass façade cleaning robot wall climbing robot biped mechanism |
| title | Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism |
| title_full | Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism |
| title_fullStr | Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism |
| title_full_unstemmed | Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism |
| title_short | Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism |
| title_sort | design and experiment of a novel facade cleaning robot with a biped mechanism |
| topic | glass façade cleaning robot wall climbing robot biped mechanism |
| url | https://www.mdpi.com/2076-3417/8/12/2398 |
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