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Mechanical design of an autonomous, lightweight robot for window cleaning

: Schraft, R.D.; Simons, F.; Grandi, G.P.; Muscogiuri, D.

ISR 2002, Proceedings of the 33rd International Symposium on Robotics : October 7-11, 2002, Stockholm, Sweden
Stockholm, 2002
International Symposium on Robotics (ISR) <33, 2002, Stockholm>
Conference Paper
Fraunhofer IPA ()
service robot; Fensterreinigungsroboter; Climbing robot; autonomous vacuum cleaner; Roboter; service

In the future automation by small household robot systems will increasingly enter the private environment. In this paper a demonstrator of a small and lightweight window-cleaning robot will be introduced. The robot is an autonomous system with its own power supply, sensors and a microcontroller on board. Two cleaning systems have been installed, one in the front and one at the rear of the robot. The climbing mechanism has been realized by a certain number of passive suction cups, which are mounted on a special caterpillar system. This motion system enables a continuous forward movement that is important for the cleaning result of the window. The combination of the caterpillar kinematics with passive suction cups represents a new and patented development that enables a low energy consumption. The description, calculation and future potentials of this kinematics will be the main topic of this paper.