Design and development of a glass facade cleaning robot

被引：26

作者：

Bisht, Ravindra Singh ^{[1
,2
]}

Pathak, Pushparaj Mani ^{[1
]}

Panigrahi, Soraj Kumar ^{[2
]}

机构：

[1] Indian Inst Technol, Mech & Ind Engn Dept, Robot & Control Lab, Roorkee 247667, Uttar Pradesh, India

[2] CSIR, Cent Bldg Res Inst, Acoust Instrumentat & Mech Syst Lab, Roorkee 247667, Uttar Pradesh, India

来源：

MECHANISM AND MACHINE THEORY | 2022年 / 168卷

关键词：

Dynamic modeling; Pneumatic suction; Guiderail mechanism; Hybrid PID-PSO algorithm; Path planning algorithm; Glass facade cleaning robot; WALL-CLIMBING ROBOT; OPTIMIZATION;

D O I：

10.1016/j.mechmachtheory.2021.104585

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a unique design concept, dynamic modeling, and control strategies for efficient coverage path planning of a glass facade cleaning robot (GFCR). The robot design has been conceptualized using mechanisms for adhesion, motion, steering, and cleaning. The dynamic model for robot vertical glass facade cleaning is derived using Lagrangian formulation. A modified particle swarm optimization (PSO) is used to autotune the proportional, integral, and derivative (PID) parameters for the trajectory tracking simulation and it is more efficient and robust compared to the standard PSO algorithm. The path planning algorithm using hybrid PID-PSO approach is also developed for energy-efficient coverage of the robot for glass facade cleaning. The coverage algorithm illustrates the energy-performance of the GFCR for different paths viz., horizontal line sweep (HLS), vertical line sweep (VLS), spiral line sweep (SLS), and special cell diffusion (SCD) motion. Simulation reveals the robot motion for HLS path is the most energy efficient. The GFCR model with minimum energy consumption has been validated by working trials. The GFCR has potential applications for cleaning high-rise glass facade buildings and photovoltaic (PV) solar panels.

引用

页数：26

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