Kinematics, sensors and control of the fully automated façade‐cleaning robot SIRIUSc for the Fraunhofer headquarters building, Munich

Kinematics, sensors and control of the fully automated façade‐cleaning robot SIRIUSc for the... Purpose – The purpose of this paper is to describe how the Fraunhofer Institute for Factory Operation and Automation (IFF) has developed the automatic façade‐cleaning robot SIRIUSc for use on the Fraunhofer‐Gesellschaft's headquarters, a high‐rise building in Munich, Germany. Design/methodology/approach – The building has a height of 80 m, its façade an area of 4,000 m 2 . Apart from the robot that moves along and cleans the façade, the complete, fully automated system consists of a fully automated gantry that secures, supplies energy to and, above all, positions the robot. Part of the project involved completely automating a standard gantry, which is an integral part of the complete façade‐cleaning robot system. Findings – This paper presents an overview of the significant basic functions of the robot and the gantry, emphasizing the kinematics, the control and sensor systems for navigation and the cleaning sequence that employs the extensive fully automatic functions of the robot and gantry. Originality/value – The paper presents the first freely climbing façade‐cleaning robot for vertical façades without rails effectively in use in Europe. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

Kinematics, sensors and control of the fully automated façade‐cleaning robot SIRIUSc for the Fraunhofer headquarters building, Munich

Loading next page...
 
/lp/emerald-publishing/kinematics-sensors-and-control-of-the-fully-automated-fa-ade-cleaning-0A4gKGpfdr
Publisher
Emerald Publishing
Copyright
Copyright © 2008 Emerald Group Publishing Limited. All rights reserved.
ISSN
0143-991X
DOI
10.1108/01439910810868543
Publisher site
See Article on Publisher Site

Abstract

Purpose – The purpose of this paper is to describe how the Fraunhofer Institute for Factory Operation and Automation (IFF) has developed the automatic façade‐cleaning robot SIRIUSc for use on the Fraunhofer‐Gesellschaft's headquarters, a high‐rise building in Munich, Germany. Design/methodology/approach – The building has a height of 80 m, its façade an area of 4,000 m 2 . Apart from the robot that moves along and cleans the façade, the complete, fully automated system consists of a fully automated gantry that secures, supplies energy to and, above all, positions the robot. Part of the project involved completely automating a standard gantry, which is an integral part of the complete façade‐cleaning robot system. Findings – This paper presents an overview of the significant basic functions of the robot and the gantry, emphasizing the kinematics, the control and sensor systems for navigation and the cleaning sequence that employs the extensive fully automatic functions of the robot and gantry. Originality/value – The paper presents the first freely climbing façade‐cleaning robot for vertical façades without rails effectively in use in Europe.

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: May 2, 2008

Keywords: Kinematics; Sensors; Robotics; Automation

There are no references for this article.

You’re reading a free preview. Subscribe to read the entire article.


DeepDyve is your
personal research library

It’s your single place to instantly
discover and read the research
that matters to you.

Enjoy affordable access to
over 18 million articles from more than
15,000 peer-reviewed journals.

All for just $49/month

Explore the DeepDyve Library

Search

Query the DeepDyve database, plus search all of PubMed and Google Scholar seamlessly

Organize

Save any article or search result from DeepDyve, PubMed, and Google Scholar... all in one place.

Access

Get unlimited, online access to over 18 million full-text articles from more than 15,000 scientific journals.

Your journals are on DeepDyve

Read from thousands of the leading scholarly journals from SpringerNature, Wiley-Blackwell, Oxford University Press and more.

All the latest content is available, no embargo periods.

See the journals in your area

DeepDyve

Freelancer

DeepDyve

Pro

Price

FREE

$49/month
$360/year

Save searches from
Google Scholar,
PubMed

Create folders to
organize your research

Export folders, citations

Read DeepDyve articles

Abstract access only

Unlimited access to over
18 million full-text articles

Print

20 pages / month

PDF Discount

20% off