Abstract
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.
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García-Rodríguez, G.M., Castillo-Castañeda, E. (2022). A Robot for Facade Cleaning Based on a Cartesian Configuration: Kinematic Analysis and Prototype Construction. In: Müller, A., Brandstötter, M. (eds) Advances in Service and Industrial Robotics. RAAD 2022. Mechanisms and Machine Science, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-031-04870-8_30
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DOI: https://doi.org/10.1007/978-3-031-04870-8_30
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