TY - GEN
T1 - A Robot for Facade Cleaning Based on a Cartesian Configuration
T2 - 31st International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2022
AU - García-Rodríguez, G. M.
AU - Castillo-Castañeda, E.
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - Despite advances in service robotics and automation, building facade cleaning continues to be performed manually by specialized technicians operating from complex scaffoldings. This form of cleaning, in addition to be inefficient, is expensive and dangerous for cleaning personnel who must work under the risk of falls from considerable height and exposed to toxic substances that are often required for cleaning. This work presents a robotic device with 5 degrees of freedom based on a Cartesian configuration and a pan-tilt type system; the latter allows directing a high-pressure jet of some specific substance to clean the facade. The robotic device is placed in front of the facade and an operator directs the cleaning from the ground in a teleoperated way. In a first stage, the cleaning substance can be water supplied by a high-pressure washer. The kinematic analysis of the robot is presented, as well as a prototype construction.
AB - Despite advances in service robotics and automation, building facade cleaning continues to be performed manually by specialized technicians operating from complex scaffoldings. This form of cleaning, in addition to be inefficient, is expensive and dangerous for cleaning personnel who must work under the risk of falls from considerable height and exposed to toxic substances that are often required for cleaning. This work presents a robotic device with 5 degrees of freedom based on a Cartesian configuration and a pan-tilt type system; the latter allows directing a high-pressure jet of some specific substance to clean the facade. The robotic device is placed in front of the facade and an operator directs the cleaning from the ground in a teleoperated way. In a first stage, the cleaning substance can be water supplied by a high-pressure washer. The kinematic analysis of the robot is presented, as well as a prototype construction.
KW - Cartesian type robot
KW - Facade cleaning
KW - High-pressure washer
KW - Service robot
UR - http://www.scopus.com/inward/record.url?scp=85129274283&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-04870-8_30
DO - 10.1007/978-3-031-04870-8_30
M3 - Contribución a la conferencia
AN - SCOPUS:85129274283
SN - 9783031048692
T3 - Mechanisms and Machine Science
SP - 256
EP - 263
BT - Advances in Service and Industrial Robotics - RAAD 2022
A2 - Müller, Andreas
A2 - Brandstötter, Mathias
PB - Springer Science and Business Media B.V.
Y2 - 8 June 2022 through 10 June 2022
ER -