Performance Comparison of Adaptive Mechanisms of Cleaning Module to Overcome Step-Shaped Obstacles on Façades

Jooyoung Hong,Garam Park,Jongwon Kim,Hwa Soo Kim,Taewon Seo,Jiseok Lee

doi:10.1109/access.2019.2950689

Abstract

As the demand and market for building maintenance are increasing, automated building facade cleaning has become essential. Robots are replacing human workers because cleaning work on high-rise buildings using gondolas can be dangerous. Several facade cleaning robots have been developed for climbing, and practical knowledge to clean the facade is being adopted in their cleaning devices. In this study, a passive linkage suspension mechanism and tri-star wheels are applied to solve the problems of unclean zones due to failures during overcoming obstacles and the problems through the use of additional actuators. Various mechanism models have been introduced and their performances have been compared based on dynamic simulation considering obstacle encounters.

Highlights

In recent years, cleaning buildings has become a significant issue for many people
Hong et al.: Performance Comparison of Adaptive Mechanisms of Cleaning Module to Overcome Step-Shaped Obstacles on Façades the efficient working of BWMR, buildings must be installed with guide rails, which proves to be a limitation to this method
The results show that the adaptive cleaning module accelerates more when it overcomes higher obstacles

Summary

INTRODUCTION

In recent years, cleaning buildings has become a significant issue for many people. In countries like China, Hongkong, and some countries in Middle Asia, the number of buildings is rapidly increasing with the developments in construction technology [1]. J. Hong et al.: Performance Comparison of Adaptive Mechanisms of Cleaning Module to Overcome Step-Shaped Obstacles on Façades the efficient working of BWMR, buildings must be installed with guide rails, which proves to be a limitation to this method. J. Hong et al.: Performance Comparison of Adaptive Mechanisms of Cleaning Module to Overcome Step-Shaped Obstacles on Façades FIGURE 2. Some researchers suggest the use of linkage suspension mechanisms that help in climbing the step-like obstacles with better performance [16]–[18] This characteristic can be applied to the new cleaning module. The nozzles might be turned off during overcoming the obstacles by being located on the connection part

PARAMETRIC DESIGN OF LINKAGE

SIMULATION ENVIRONMENT

RESULT

Findings

CONCLUSION