TY - JOUR
T1 - Sky cleaner 3
AU - Zhang, Houxiang
AU - Zhang, Jianwei
AU - Zong, Guanghua
AU - Wang, Wei
AU - Liu, Rong
PY - 2006/3
Y1 - 2006/3
N2 - 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.
AB - 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.
KW - Control system
KW - Glass-wall cleaning robot
KW - Mechanical structure
KW - Pneumatic schemes
KW - Segment and variable bang-bang controller
UR - https://www.scopus.com/pages/publications/33644675535
U2 - 10.1109/MRA.2006.1598051
DO - 10.1109/MRA.2006.1598051
M3 - 文章
AN - SCOPUS:33644675535
SN - 1070-9932
VL - 13
SP - 32
EP - 41
JO - IEEE Robotics and Automation Magazine
JF - IEEE Robotics and Automation Magazine
IS - 1
ER -