The Design of Robotic Window Cleaner

ROBOTIC WINDOW CLEANER
The Design of Robotic Window Cleaner
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ROBOTIC WINDOW CLEANER
TABLE OF CONTENTS
LIST OF FIGURES.........................................................................................................................v
List of Symbols and Abbreviation..................................................................................................vi
CHAPTER ONE..............................................................................................................................7
INTRODUCTION...........................................................................................................................7
1.1 BACKGROUND...................................................................................................................7
1.2 History of robotic window cleaners.......................................................................................9
1.2.1 The manual stage...........................................................................................................10
1.2.2 The manual and machine stage.....................................................................................11
1.2.3 The machine only stage.................................................................................................12
1.3 Mechanism of robotic window cleaner................................................................................13
1.3.1 Travelling path mechanism...........................................................................................13
1.3.2 Locomotive mechanism of the body.............................................................................15
1.3.3 Turning mechanism of the robot...................................................................................15
1.4 Comparison of Simple and Robotic Window Cleaners.......................................................16
1.4.1 Simple methods.............................................................................................................16
1.4.2 Use of robots in cleaning...............................................................................................17
1.5 Problem description.............................................................................................................18
1.6 Research questions...............................................................................................................19
1.7 Justification..........................................................................................................................20
CHAPTER TWO...........................................................................................................................23
LITERATURE REVIEW..............................................................................................................23
2.1 Overview..............................................................................................................................23
2.2.1 Cleaners suspended in the air........................................................................................25
2.2.2 from ground cleaning....................................................................................................27
2.3 design of window cleaners...................................................................................................28
2.3.1 Valuation of the Concept...............................................................................................29
2.3.2 Pulley system based window cleaners...........................................................................29
2.3.3 Rail & Cab.....................................................................................................................30
2.3.4 The concept of attached magnet in window cleaners....................................................31

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2.3.5The Concept of Dual Rotating Arms..............................................................................32
2.3.6 Extendable Wiper..........................................................................................................33
2.3.7 Selection of the concept................................................................................................34
2.4 Evolution of robotic development........................................................................................34
2.4.1 Industrial robots.............................................................................................................34
2.4.2 Mobile robots................................................................................................................35
2.4.3 Underwater Robots........................................................................................................35
2.4.4 Service robots................................................................................................................35
2.5 battery and power supply.....................................................................................................36
2.6 Ergonomics..........................................................................................................................37
Engineering Specifications.....................................................................................................40
2.7 working principle.................................................................................................................43
2.7.1 Project Information........................................................................................................45
2.8 physical features...................................................................................................................47
2.8.1DC Motors......................................................................................................................47
2.8.2 Transformers.................................................................................................................47
2.8.3 Liquid Cristal Displays LCD.........................................................................................47
2.8.4 Sensors...........................................................................................................................48
2.8.5 Microcontrollers............................................................................................................48
CHAPTER THREE.......................................................................................................................49
MATERIALS AND METHODOLOGY.......................................................................................49
3.1 DESIGN CRITERIA............................................................................................................49
3.2 Facilities Required...............................................................................................................49
3.3 Design process.....................................................................................................................50
3.3.1 Proposed Assembly drawing.........................................................................................50
3.3.2 The working procedure.................................................................................................52
3.3.3 The concept of attached magnet....................................................................................52
3.3.4 The concept of extendable wiper...................................................................................54
3.4 ENGINEERING ANALYSIS..............................................................................................57
3.4.1Re-evaluation of the extendable wiper...........................................................................57
3.4.2 Quantitative Analysis on the Concept of Attached Magnet..........................................58

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3.4.3 Material selection..........................................................................................................58
3.5 Design Calculations.............................................................................................................59
3.5.1 Design for Links............................................................................................................59
3.5.2 Base...............................................................................................................................61
3.5.3 Design for Motor Selection...........................................................................................62
3.5.4 Design for End Effector................................................................................................64
3.6 Operation of the proposed equipment..................................................................................64
3.6.1 Concept of the pulley....................................................................................................65
3.6.2 Rail and Cab Concept....................................................................................................65
3.6.3 The connected magnet...................................................................................................67
3.6.4 Dual Rotating Arms.......................................................................................................68
3.6.5 An Adjustable Wiper.....................................................................................................70
3.7 Inverse Kinematics for Code Development.........................................................................70
3.8 Determination of joint toques..............................................................................................73
3.9 Torque Required to Overcome Inertia.................................................................................74
3.9 Circuit diagram....................................................................................................................76
3.10 Testing of the parameter....................................................................................................79
CHAPTER FOUR.........................................................................................................................80
MANUFACTURE OF THE PROPOSED ROBOT......................................................................80
4.1 The manufacturing of prototype..........................................................................................80
4.1.1 Both the body and mechanical assembly......................................................................81
4.2 The assembly of the electronics...........................................................................................81
4.3 Environmental Legislation consideration in the design.......................................................82
4.4 Ergonomics And Legislative Requirements Of The Robotic Window Cleaner..................83
4.4.1 Re-evaluation of the extendable wiper..........................................................................83
4.4.2 Qualitative analysis.......................................................................................................84
4.4.3 Design for Assembly and Manufacturing in Ergonomics considerations.....................85
CHAPTER FIVE...........................................................................................................................86
CONCLUSION..............................................................................................................................86
5.1 Discussion for Future Work.................................................................................................86
REFERENCES..............................................................................................................................88

ROBOTIC WINDOW CLEANER
LIST OF FIGURES
figure 1 MANUAL CLEANING...................................................................................................12
figure 2 MANUAL AND MACHINE CEANING........................................................................13
figure 3 Horizontal movement mechanisms..................................................................................15
figure 4 horizontal movement mechanism....................................................................................16
figure 5 Simple cleaning methods.................................................................................................18
figure 6 Machine cleaners..............................................................................................................19
figure 7 Manual windows cleaning................................................................................................23
figure 8 CLEANERS SUSPENDED ON AIR BY GONDOLA...................................................26
figure 9 SCHEMATIC WORKFLOW DURING CLEANING....................................................28
figure 10 STEP-DOWN MOTOR.................................................................................................36
figure 11 BRIDGE RECTIFIER....................................................................................................37
figure 12 Comparison of ASME and customers............................................................................39
figure 13 Figure showing the summary of QDF model................................................................41
figure 14 PROPOSED DRAWINGS.............................................................................................50
figure 15 Figure showing the notion of adjustable wiper..............................................................51
figure 16 Figure showing assembled and dissembled images for the concept of attached magnet
.......................................................................................................................................................52
figure 17 An engineering diagram showing the concept of the attached magnet..........................54
figure 18 diagram illustrating the concept of extendable wiper arm (at the start and at full
extension states).............................................................................................................................55
figure 19 An engineering diagram for the concept of extendable wiper arm................................56
figure 20 LINK 2...........................................................................................................................60
figure 21 SUPPORT PINS.............................................................................................................62
figure 22 SIMPLIFIED FORCES ACTING ON THE ARM........................................................63
figure 24 Figure showing the complete assembly and the end support.........................................66
figure 25 A diagram of intermediate support and cab unit............................................................66

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figure 26 Figure showing a sketch of the concept of magnet connected robot.............................67
figure 27 front view for the concept of dual rotating wiper arms..................................................69
figure 28 KINEMATIC MODEL..................................................................................................71
figure 29 DIAGRAMMATIC JOINT REPRESENTATIONS......................................................74
figure 30 roposed wiring (Brian, 2019).........................................................................................77
figure 31 MATLAB SIMULATION.............................................................................................79

ROBOTIC WINDOW CLEANER
List of Symbols and Abbreviation
F – Force,
I – Second moment of inertia,
GW – gross weight,
T – Torque,
M – Mass,
Cf – Coefficient of friction,
g – 9.8m/s,
α – angular acceleration,
σ c- Compressive stress
H=heat in joules
I=current in amperes
R=resistance in ohms
t=time in second

ROBOTIC WINDOW CLEANER 8
CHAPTER ONE
INTRODUCTION
1.1 BACKGROUND
A robot is a reprogrammable multifunctional manipulator designed to move materials, parts,
tools, or specialized devices through variable programmed motions for the performance of a
variety of tasks (Schwenke & Gasworth, 2017).
Robots of all types constitute one of the keys to human, social, and economic development. The
first robots were devices with one or more arms making human-like motions. In recent days, the
shape of robots covers an extensive repertory of forms, including wheeled platforms, mobile
manipulators, legged bodies, animal-like robots, and others (Zhou & Li, 2016). All these robots
contribute in one or the other way to social, industrial, agricultural, technical, and social life
improvements. The benefits of using autonomous and intelligent mobile robots are that their
positive impact in modern society is continuously increasing.
The most commonly used robot used in the industries today is the robotic arm. A robotic arm is
a mechatronic device that converts electric motors into mechanical strength and motion control
theory (Leidner et al., 2016).
The robotic arm consists of a series of linkages that are connected in such a way that a servo
motor can be used to control each joint. It is usually used with servo motors to the required
position of the arm. These arms are used to weld, package, paint, position, and assembly a host
of products that we use daily (Tan et al., 2016). The controlling computer, the brain of the robot,