Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 27, Issue 5, Pages 3265-3274Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2021.3104895
Keywords
Facade cleaning robot; coordinate measuring arm (CMA); disturbance compensation; passive compliant structure.
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Funding
- National Research Foundation of Korea (NRF) [2018M3C1B9088331, 2018M3C1B9088332]
- Ministry of Science and ICT for First-Mover Program for Accelerating Disruptive Technology Development
- Human Resources Program in Energy Technology of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) from the Ministry of Trade, Industry & Energy, Republic of Korea [20204030200100]
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This study proposes a compliant parallel structure-based position sensing device to measure lateral directional disturbances in the movement of facade cleaning robots, with experimental verification of the disturbance compensation feature.
Facade cleaning is a dangerous task for human workers. If a facade cleaning robot is equipped with a gondola, it can perform facade cleaning with a simple planar manipulator via the vertical movement of the gondola. To clean a facade using a gondola-embedded robot successfully, the disturbance in the lateral direction of the gondola movement should be measured and compensated. In this study, we propose a compliant parallel structurebased position sensing device to measure the lateral directional disturbances. The compliant structure keeps contacts on the edge of the glass frame during the operation of the gondola and obtains disturbance information from forward kinematics of the joint mechanism. The prototype was produced, and experiments were performed on a test bench designed with a similar facade geometry as that of the target building. The disturbance compensation feature of the proposed mechanism was verified by experimental analysis.
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