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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Under Constrained Cable-Driven Parallel Robot for Vertical Green Maintenance


    Additional title:

    Mechan. Machine Science


    Contributors:

    Conference:

    International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021


    Published in:

    Cable-Driven Parallel Robots ; Chapter : 31 ; 389-400


    Publication date :

    2021-06-01


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English






    FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics

    Pedemonte, Nicolò / Rasheed, Tahir / Marquez-Gamez, David et al. | Springer Verlag | 2019


    Tension restrained workspace analysis for cable-driven parallel robot

    Weihai, C. / Yangyi, Y. / Xingming, W. et al. | British Library Online Contents | 2011


    Constrained Optimal Control of Cable-Driven Parallel Robots Based on SDRE

    Marufkhani, Hanie / Khosravi, Mohammad A. | TIBKAT | 2021