scholarly journals Modeling and Analysis of a Glass Façade Robot

Buildings ◽  
2021 ◽  
Vol 11 (6) ◽  
pp. 225
Author(s):  
Rizuwana Parween ◽  
Mohan Rajesh Elara ◽  
Zaki Saptari Saldi ◽  
Thomas Ng ◽  
Madan Mohan Rayaguru
Keyword(s):  
Analytical Calculation ◽  
Suction Pressure ◽  
Motion Controller ◽  
Dry Cleaning ◽  
Modeling And Analysis ◽  
Order Of Magnitude ◽  
Computational Fluid Dynamics Cfd ◽  
Glass Facade ◽  
Suction Performance ◽  
Glass Façade

For glass façade cleaning, we developed a reconfigurable robot, Mantis-mini, with a dry cleaning mechanism and linear actuator based transitioning mechanism. It consists of three suction modules, connected by a support structure and each suction module has individual differential drive wheels with independent steering capability. This paper focuses on the detailed design of the platform, static structural analysis for and kinematic formulation. The adhesion performance of the suction module is evaluated using experiments, Computational Fluid Dynamics (CFD) simulations, and analytically formulated estimation. The suction pressure magnitude predicted from the simulations increases with suction impeller speed and agrees well with measurements and analytical calculation in terms of order of magnitude and qualitative trend. An adaptive proportional-integral (PI) controller is designed and implemented for regulating suction pressure and motion controller of the platform. The suction performance of the platform is validated through real-time experiments of the platform on the glass surface.

scholarly journals Investigations of Inducers Operating With High Rotational Speed

2018 ◽  
Vol 141 (4) ◽  
Author(s):  
Björn Gwiasda ◽  
Matthias Mohr ◽  
Martin Böhle
Keyword(s):  
Rotational Speed ◽  
Test Bench ◽  
Pressure Rise ◽  
Working Fluid ◽  
Cfd Simulations ◽  
High Rotational Speed ◽  
Rotating Speed ◽  
Performance Pressure ◽  
Computational Fluid Dynamics Cfd ◽  
Suction Performance

Suction performance, pressure rise, and efficiency for four different inducers are examined with computational fluid dynamics (CFD) simulations and experiments performed with 18,000 rpm and 24,000 rpm. The studies originate from a research project that includes the construction of a new test bench in order to judge the design of the different inducers. This test bench allows to conduct experiments with a rotational speed of up to 40,000 rpm and high pressure ranges from 0.1 bar to 40 bar with water as working fluid. Experimental results are used to evaluate the accuracy of the simulations and to gain a better understanding of the design parameter. The influence of increasing the rotating speed from 18,000 rpm to 24,000 rpm on the performance is also shown.

scholarly journals Architectural and engineering principles and innovations in the construction of glass-facade buildings

Vestnik MGSU ◽  
2015 ◽  
pp. 7-15 ◽  
Author(s):  
Aleksandr Aleksandrovich Plotnikov
Keyword(s):  
Scientific Community ◽  
Green Building ◽  
Building Construction ◽  
Research Projects ◽  
Quantum Leap ◽  
Glass Facade ◽  
The Given ◽  
General Opinion ◽  
Glass Façade ◽  
Construction Practice

Though the technologies are dynamically developing and there are a lot of research projects, there is still no general opinion on a glass-facade building among the European scientific community, architects and construction engineers. The increasing requirements to heat-protective qualities of translucent structures make us think of the necessity of a quantum leap both in technologies and in principal approaches to the development of architectural and constructive solutions of translucent shells. Together with economical features, the dynamics of heat-protective indicators’ increase show the tendencies to reaching the possibilities limits of mass glass units. The European construction practice usually solve this problem by developing sealed insulating glass units and by different conceptual solutions of the systems of translucent double facades. In the given article the basic theoretical principles and innovative engineering ideas are formulated dealing with the modern glass-facade building construction. “Green Building” conception is analyzed as a European new building philosophy.

scholarly journals Design and Experiment of a Novel Façade Cleaning Robot with a Biped Mechanism

2018 ◽  
Vol 8 (12) ◽  
pp. 2398 ◽  
Author(s):  
Shunsuke Nansai ◽  
Keichi Onodera ◽  
Prabakaran Veerajagadheswar ◽  
Mohan Rajesh Elara ◽  
Masami Iwase
Keyword(s):  
Polynomial Interpolation ◽  
Area Coverage ◽  
Glass Panel ◽  
High Rise ◽  
Cleaning Robot ◽  
Glass Panels ◽  
Glass Facade ◽  
Cleaning Robots ◽  
Real Scenario ◽  
Glass Façade

Façade cleaning in high-rise buildings has always been considered a hazardous task when carried out by labor forces. Even though numerous studies have focused on the development of glass façade cleaning systems, the available technologies in this domain are limited and their performances are broadly affected by the frames that connect the glass panels. These frames generally act as a barrier for the glass façade cleaning robots to cross over from one glass panel to another, which leads to a performance degradation in terms of area coverage. We present a new class of façade cleaning robot with a biped mechanism that is able overcome these obstacles to maximize its area coverage. The developed robot uses active suction cups to adhere to glass walls and adopts mechanical linkage to navigate the glass surface to perform cleaning. This research addresses the design challenges in realizing the developed robot. Its control system consists of inverse kinematics, a fifth polynomial interpolation, and sequential control. Experiments were conducted in a real scenario, and the results indicate that the developed robot achieves significantly higher coverage performance by overcoming both negative and positive obstacles in a glass panel.

Sign in / Sign up

Export Citation Format

Share Document