Parallel 2-DoF manipulator for wall-cleaning applications
- Title
- Parallel 2-DoF manipulator for wall-cleaning applications
- Author
- 서태원
- Keywords
- Wall-cleaning; Parallel mechanism; Optimal design; Dynamic modeling
- Issue Date
- 2019-05
- Publisher
- ELSEVIER SCIENCE BV
- Citation
- AUTOMATION IN CONSTRUCTION, v. 101, Page. 209-217
- Abstract
- The walls of high-rise buildings are cleaned manually several times per year. The cleaning work is difficult and extremely dangerous for human workers, and there are several ongoing studies to automate this work by robotic solutions. To achieve successful cleaning performance, the cleaning operation must adapt to the environmental conditions. In this study, we design and assemble a manipulator for use in wall-cleaning applications. From the design requirements identified by investigating a high-rise building in Korea, we determine the two important degrees of freedom (DOF) and design a parallel mechanism to achieve motion. With the parallel configuration, the design parameters are optimized based on a dynamic index to achieve high cleaning performance on a scaffold. A prototype is assembled, and the cleaning performance is verified on a test bench. A field test with the developed manipulator will be performed in the near future.
- URI
- https://www.sciencedirect.com/science/article/pii/S0926580518308720?via%3Dihubhttps://repository.hanyang.ac.kr/handle/20.500.11754/114935
- ISSN
- 0926-5805; 1872-7891
- DOI
- 10.1016/j.autcon.2019.02.002
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML