Abstract
The focus of this discussion is on the wall-cleaning robot by pneumatic cylinders for high-rise buildings. There are several kinds of kinematics for motion on smooth vertical surfaces namely: multiple legs, sliding frame, and wheeled and chain-track vehicle. There are also four different principles of adhesion used by climbing robots and these inclue vacuum suckers, negative pressure, propellers, and grasping grippers. Also outlined are the basic functions of a wall-cleaning robotic system, mechanical construction, control system, software development, and the construction of the pneumatic system. Application of a cleaning robot system can free workers from hazardous work and realize an automatic cleaning of high-rise buildings, thereby improving the technological level and productivity of the service industry.
| Original language | English |
|---|---|
| Pages (from-to) | 32-41 |
| Number of pages | 10 |
| Journal | IEEE Robotics and Automation Magazine |
| Volume | 13 |
| Issue number | 1 |
| DOIs | |
| State | Published - Mar 2006 |
Keywords
- Control system
- Glass-wall cleaning robot
- Mechanical structure
- Pneumatic schemes
- Segment and variable bang-bang controller
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