Design and development of a glass façade cleaning robot

Bisht, Ravindra Singh; Pathak, Pushparaj Mani; Panigrahi, Soraj Kumar

doi:10.1016/j.mechmachtheory.2021.104585

Cited by 17 publications

(16 citation statements)

References 44 publications

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“…On the other hand, for environments such as architectural infrastructures, pneumatic adhesion is the most attractive because of its versatility. Within this group, we find those who use passive suction cups, 28,29 vacuum chambers, such as Alicia 3, 30 or the one presented in literature, 24,31 and suction by vacuum generation. 32 This last type is used in our approach because of its compactness, versatility, simplicity, adaptability, and suitability for variable environments.…”

Section: State Of Artmentioning

confidence: 95%

ROMERIN: A new concept of a modular autonomous climbing robot

Hernando

Gambao

Prados

et al. 2022

International Journal of Advanced Robotic Systems

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Climbing robots play an essential role in performing inspection work in civil infrastructures. These tasks require autonomous robots with competitive costs and the ability to adapt to different types of environments. This article presents ROMERIN, a new concept of a modular legged climbing robot where each leg is an autonomous robotic module in terms of processing capacity, control, and energy. The legs are equipped with suction cups that allow the robot to adhere to different types of surfaces. The proposed design allows the creation of climbing robots with a different number of legs to perform specific inspection tasks. Although each of the legs acts as an independent robot, they have the ability to share information and energy. The proposed control concept enables the development of climbing robots with the ability to adapt to different types of inspection tasks and with resilience characteristics. This article includes a description of the mechatronic design, the kinematics of the seven degree-of-freedom robotic legs, including the adhesion system, and the architecture of the control and simulation system. Finally, we present experimental results to test the modularity concept, mechanical design, and electronics using a four-legged robot configuration. We analyze the performance of the gripping system in different situations on four different surfaces and the behavior of the control architecture for two different robot body trajectories.

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Section: State Of Artmentioning

confidence: 95%

ROMERIN: A new concept of a modular autonomous climbing robot

Hernando

Gambao

Prados

et al. 2022

International Journal of Advanced Robotic Systems

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“…The aim of the PSO technique is to obtain optimal control parameters by minimizing the fitness function which is described as root mean squared error (RMSE) of the robot trajectory [38]. A detailed description of PSO and its variants for autotuning the control parameters can be found elsewhere [38,39].…”

Section: Motion Planning and Pso Algorithmsmentioning

confidence: 99%

“…The literature suggests PSO algorithm for motion planning and controller design, and it outperforms compared to other swarm based and evolutionary algorithms[37]. The aim of the PSO technique is to obtain optimal control parameters by minimizing the fitness function which is described as root mean squared error (RMSE) of the robot trajectory[38]. A detailed description of PSO and its variants for autotuning the control parameters can be found elsewhere[38,39].The robot parameters used in the wheel and arm motion trajectory simulations are shown in Table III and evaluated using the robot CAD model by choosing appropriate materials.…”

mentioning

confidence: 99%

Modelling, simulation and experimental validation of wheel and arm locomotion based wall-climbing robot

2022

Self Cite

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This article presents modelling, simulation, and development of a wall-climbing robot based on coupled wheel and arm-type locomotion mechanism. The developed robot consists of two mobile modules connected with a robot arm mechanism. The actuation of the robot arm is inspired by inchworm locomotion, particularly during wall-to-wall transition, obstacle avoidance, and uneven surface locomotion. Easiness in the interchanging of wheel to arm and vice versa makes the robot more effective compared to previously developed wall-climbing robots. The kinematic and dynamic model for the proposed coupled wheel and arm locomotion concept has been established. A combination of particle swarm optimization (PSO) and proportional, integral, derivatives (PID) feedback control algorithm has been developed using MATLAB to simulate the different cases of robot motions. The developed prototype of the wall-climbing robot is used to verify the coupled wheel and arm locomotion concept in various wall climbing scenarios. The simulation and experimental findings show good comparisons and validate the model-based design of the wall-climbing robot.

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“…Technical advances allow wall surface inspection robots to gradually expand the operating environment to the surfaces of complex structures such as steel bridges, buildings, hulls, or even wind-power blades [3][4][5][6]. These environments lack positioning features and experience great fluctuations in angles on the wall surfaces.…”

Section: Introductionmentioning

confidence: 99%

A Path-Planning Method for Wall Surface Inspection Robot Based on Improved Genetic Algorithm

Tao

Wen

et al. 2022

Electronics

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A wall surface inspection robot mainly relies on the inertial measurement unit and global positioning system (GPS) signal during intelligent wall surface inspection. The robot may encounter incorrect positioning under a GPS-denied environment, easily triggering safety accidents. In order to obtain a path suitable for the safe work of the robot wall surface inspection robot in a GPS-denied environment, a global path-planning method for wall surface inspection robots was proposed based on the improved generic algorithm (GA). The influencing factor for GPS signal strength was introduced into the heuristic function in path planning for GA to address the aforementioned problem. Using the PSO algorithm, GA was initialized and the influencing term of GPS signal was introduced into the fitness degree function so as to achieve point-to-point path planning of vertical wall surface inspection robot. Path angle and probability of intersection and variation was taken into account for better path planning capability. Finally, the simulation experiments were performed. The generated path using the improved GA was found to avoid the blind area of the GPS signal. The algorithm proposed has a good performance with average convergence times of 35.9 times and an angle of 55.88° in simple environment. Contrary to the traditional GA and PSO algorithm, the method showed advantages in terms of the convergence rate, path quality, path angle change, and algorithm stability. The research presented in this article is meaningful and relatively sufficient. The simulation test is also quite convincing. The proposed method was proved to be effective in global path planning for a wall surface inspection robot.

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Design and development of a glass façade cleaning robot

Cited by 17 publications

References 44 publications

ROMERIN: A new concept of a modular autonomous climbing robot

ROMERIN: A new concept of a modular autonomous climbing robot

Modelling, simulation and experimental validation of wheel and arm locomotion based wall-climbing robot

A Path-Planning Method for Wall Surface Inspection Robot Based on Improved Genetic Algorithm

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