Abstract
This paper proposes a three-degree-of-freedom manifold composed of three linear actuators. The proposed mechanism consists of a workspace suitable for facade cleaning and can compensate for the horizontal position from disturbances in a gondola-based exterior-wall cleaning. We design a cleaning manipulator that can ensure a constant cleaning area by compensating for the disturbance in each direction. The position, velocity kinematic, and Jacobian-based singularity analysis are presented, and kinematic variables are defined to extend a singularity-free workspace. In addition, optimization is performed based on an index that demonstrates the mechanical properties of the manipulator. The result shows how the manipulator compensates for the disturbances as well as the features of the optimization model. This study can be applied to robot manipulators for facade cleaning in the future.
Highlights
As the number of high-rise buildings increases, maintaining and cleaning the exterior walls of buildings have become important. Solutions such as the GEKKO facade robot of SERBOT in Switzerland, SIRIUS facade-cleaning robot of Fraunhofer, and SkyPro facade cleaner in Cyprus [1]–[3] have been presented as applications for facade cleaning
WORKSPACE OPTIMIZATION In view of the application to facade cleaning of this 3-DOF parallel manipulator, a certain level of workspace must be ensured because the distance between the manipulator and outer wall must be kept constant during the cleaning process
The 3-DOF manipulator proposed in this paper adopted a single ball screw and a proposed linkage structure
Summary
As the number of high-rise buildings increases, maintaining and cleaning the exterior walls of buildings have become important. Joo et al proposed a two-degree-of-freedom (2-DOF) parallel mechanism with one translational and one rotational DOF through two linear actuations [12] This mechanism ensures a workspace that is free of singular positions and has high rigidity. It solves the problems in the previous solutions, namely, low efficiency and inability to apply to various buildings. This mechanism suffers from the limitation in that it cannot compensate for the horizontal disturbance of the gondola because it only has two DOFs. Figure 2 shows our designed three-DOF (3-DOF) parallel manipulator that can compensate for horizontal disturbance during facade cleaning.
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