| Autor: |
Shunsuke Nansai, Mohan Rajesh Elara, Thein Than Tun, Prabakaran Veerajagadheswar, Thejus Pathmakumar |
| Jazyk: |
angličtina |
| Rok vydání: |
2017 |
| Předmět: |
|
| Zdroj: |
Inventions, Vol 2, Iss 3, p 18 (2017) |
| Druh dokumentu: |
article |
| ISSN: |
2411-5134 |
| DOI: |
10.3390/inventions2030018 |
| Popis: |
The façade cleaning of high rise buildings is one of the hazardous tasks that is performed by human operators. Even after a significant advancement in construction technologies, several newfangled skyscrapers are still using the manual method for cleaning the glass panels. This research is aimed at the development of a glass façade cleaning robot, capable of adapting to any kind of building architecture. A robotic system capable of cleaning vertical glass surfaces demands a transformable morphology. A self-reconfigurable robot is one of the potential solutions to realize high degrees of adaptability. Following the design principles we derived, we propose a nested reconfigurable design approach for glass façade cleaning and develope a system of robot modules that performs glass façade cleaning. Throughout this research article, we discuss the brief concept and scheme of nested reconfigurable design principle and the hardware-software challenges associated with it. This article also discusses the capability to maximize the flexibility and modularity of the robot by using intra- and inter-reconfigurations. The effectiveness of the designed system is verified by experimental means. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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