Next Article in Journal
Direct Photonic Fusion of Vitrified Bonding Materials
Next Article in Special Issue
Development of a Bridge Inspection Robot Capable of Traveling on Splicing Parts
Previous Article in Journal / Special Issue
Characteristics and Performance of CAUTO (CAssino hUmanoid TOrso) Prototype
Article Menu

Export Article

Open AccessArticle
Inventions 2017, 2(3), 18; https://doi.org/10.3390/inventions2030018

A Novel Nested Reconfigurable Approach for a Glass Façade Cleaning Robot

1
SUTD-JTC I3 Center, Singapore University of Technology and Design, Singapore 487372, Singapore
2
Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore 487372, Singapore
3
SUTD @ Temasek Laboratories, Singapore University of Technology and Design, Singapore 487372, Singapore
*
Author to whom correspondence should be addressed.
Received: 21 July 2017 / Revised: 11 August 2017 / Accepted: 11 August 2017 / Published: 17 August 2017
(This article belongs to the Special Issue Advances in Mechanism Design for Robots)
Full-Text   |   PDF [3478 KB, uploaded 17 August 2017]   |  

Abstract

The 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
Keywords: nested reconfiguration; self reconfigurable robots; glass façade cleaning; wall climbing robot nested reconfiguration; self reconfigurable robots; glass façade cleaning; wall climbing robot
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

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.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Inventions EISSN 2411-5134 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top