Development of a Module Robot for Glass Façade Cleaning Robot

Abstract

Our ultimate goal is to develop a glass façade cleaning robot capable of adapting to any skyscrapers. Reconfigurable modular robot system allows to realize different morphology through assembling/disassembling/organizing system of each module. This paper proposes the modular robot strategy for the glass façade cleaning robot, and implements a module robot, which compose most basic role, including both design/development of the real robot and design of a control system on a glass surface. Firstly, design challenges of the glass façade cleaning robot is discussed from sides of glass cleaning process and area coverage, and our basic strategy based on the modular robot system is proposed. And, a control system for a biped type module robot based on the strategy consists of the inverse kinematics, the fifth polynomial interpolation and the sequential control. Finally, an experiment of the developed module on a glass surface is performed.