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Open AccessArticle

Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism

1
Department of Advanced Machinery Engineering, School of Engineering, Tokyo Denki University, Tokyo 120-8551, Japan
2
Department of Advanced Multidisciplinary Engineering, Graduate School of Advanced Science and Technology, Tokyo Denki University, Tokyo 120-8551, Japan
3
SUTD-JTC I3 Center, Singapore University of Technology and Design, Singapore 487372, Singapore
4
Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore 487372, Singapore
*
Author to whom correspondence should be addressed.
Appl. Sci. 2018, 8(12), 2398; https://doi.org/10.3390/app8122398
Received: 10 October 2018 / Revised: 18 November 2018 / Accepted: 19 November 2018 / Published: 26 November 2018
(This article belongs to the Special Issue Advanced Mobile Robotics)
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. View Full-Text
Keywords: glass façade cleaning robot; wall climbing robot; biped mechanism glass façade cleaning robot; wall climbing robot; biped mechanism
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Nansai, S.; Onodera, K.; Veerajagadheswar, P.; Rajesh Elara, M.; Iwase, M. Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism. Appl. Sci. 2018, 8, 2398.

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