Design of a 3-DOF Parallel Manipulator to Compensate for Disturbances in Facade Cleaning

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.

Window Shape Estimation for Glass Façade-Cleaning Robot

“…The performance of the robot was tested on the 63 Building in the Republic of Korea. For the gondola-type cleaning robot, Hong et al designed a cleaning module, applying a passive linkage suspension mechanism and tri-star wheels to overcome step-shaped obstacles [15], and Park et al designed a 3-DOF manipulator for a cleaning module to compensate for the horizontal disturbance of a gondola [16]. Furthermore, Chae et al proposed the improved design of the gondola-type cleaning robot, which includes the modularized robot design, a passive obstacle-overcoming mechanism with tri-star wheels and a compliant manipulator, and a position sensing device for the measurement and compensation of the lateral disturbance [17].…”

Detection method for transparent window cleaning device, image processing approach

“…A deep learning approach was excluded because the computing device is not sufficiently compact or energy efficient, which affects the robot’s operating time. This study is an extension of existing façade contaminant detection studies [8, 9] applied to the façade cleaning robot named ‘M1’ 9 – 11 . The detection method was used on the exterior wall of an opaque building, making it difficult to deal with the situation of a translucent window.…”

Research on Color Correction Method of Greenhouse Tomato Plant Image Based on High Dynamic Range Imaging

“…Combined with support vector machine network and spectral vegetation index, sugar beet disease type diagnosis was realized. An Android application platform was developed to monitor greenhouse vegetables and realize remote observation of vegetable disease degree (Park G. et al, 2020;Redström J., 2020;Smith H. A. et al, 2019). Now the LabVIEW interface for monitoring greenhouse fruits and vegetables has been developed, but these detection applications can only see video.…”