A Novel Nested Reconfigurable Approach for a Glass Façade Cleaning Robot
AbstractThe façade cleaning of high rise buildings is one of the hazardous tasks that is performed by human operators. Even after a significant advancement in construction technologies, several newfangled skyscrapers are still using the manual method for cleaning the glass panels. This research is aimed at the development of a glass façade cleaning robot, capable of adapting to any kind of building architecture. A robotic system capable of cleaning vertical glass surfaces demands a transformable morphology. A self-reconfigurable robot is one of the potential solutions to realize high degrees of adaptability. Following the design principles we derived, we propose a nested reconfigurable design approach for glass façade cleaning and develope a system of robot modules that performs glass façade cleaning. Throughout this research article, we discuss the brief concept and scheme of nested reconfigurable design principle and the hardware-software challenges associated with it. This article also discusses the capability to maximize the flexibility and modularity of the robot by using intra- and inter-reconfigurations. The effectiveness of the designed system is verified by experimental means. View Full-Text
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Nansai, S.; Elara, M.R.; Tun, T.T.; Veerajagadheswar, P.; Pathmakumar, T. A Novel Nested Reconfigurable Approach for a Glass Façade Cleaning Robot. Inventions 2017, 2, 18.
Nansai S, Elara MR, Tun TT, Veerajagadheswar P, Pathmakumar T. A Novel Nested Reconfigurable Approach for a Glass Façade Cleaning Robot. Inventions. 2017; 2(3):18.Chicago/Turabian Style
Nansai, Shunsuke; Elara, Mohan R.; Tun, Thein T.; Veerajagadheswar, Prabakaran; Pathmakumar, Thejus. 2017. "A Novel Nested Reconfigurable Approach for a Glass Façade Cleaning Robot." Inventions 2, no. 3: 18.
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