Façade greening has great potential to combat problems in modern cities, such as urban heat islands. However, it is not used extensively inter alia due to its high maintenance efforts. In this paper a prototype of an under constrained parallel driven Robot for Vertical Green maintenance is presented. First the concept of cable driven robots is compared with other possible solutions. Afterwards the concept of a robot held by four cables and driven by two motors is explained for the given task with a large and flat work space. This configuration leads to two uncontrolled degrees of freedom. The rolling movement of the robot should be measured and counteracted by the swivel head for the tools. The distance perpendicular to the façade is planned to be measured with a laser level detector and controlled by a pair of actuated propellers. The work in progress on the robot and the results of the first field tests are shown. The robotic concept seems to be suitable for vertical green maintenance and other tasks with a comparable workspace.
Under Constrained Cable-Driven Parallel Robot for Vertical Green Maintenance
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021
2021-06-01
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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