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Rope-Riding Mobile Anchor for Robots Operating on Convex Facades.

Chaewon Kim1, KangYup Lee1, Jeongmo Yang1

  • 1Mechanical Engineering, Hanyang University, 222, Wangsimni-ro, Seoul 04763, Republic of Korea.

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A new rope-riding mobile anchor (RMA) system enhances facade-cleaning robot safety on curved buildings. This innovative anchor improves robot mobility and stability on complex building surfaces.

Keywords:
linkage mechanismmanipulabilitymobile robotrope riding

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Civil Engineering

Background:

  • High-rise buildings with curved facades present mobility and anchoring challenges for cleaning robots.
  • Existing facade-cleaning systems struggle with complex architectural designs, limiting operational efficiency and safety.

Purpose of the Study:

  • To develop and evaluate a novel rope-riding mobile anchor (RMA) system for facade-cleaning robots.
  • To enhance the mobility, anchoring, and operational range of robots on convex building surfaces.

Main Methods:

  • The RMA system utilizes caterpillar tracks with U-shaped grooves for horizontal movement along a roof-mounted nylon rope.
  • A four-bar linkage mechanism is employed to increase rope contact friction, ensuring secure fixation.
  • The system's structural principle was chosen for simplicity, load stability, and efficient actuation.

Main Results:

  • The RMA system successfully supported a payload of 50.5 kg without slippage under tensions up to 495.24 N.
  • The system demonstrated a reduction in the facade-cleaning robot's power consumption during operation.
  • Experimental validation confirmed the RMA's capability to reposition anchors on convex surfaces.

Conclusions:

  • The developed rope-riding mobile anchor system effectively addresses the challenges of cleaning robots on curved building facades.
  • The RMA enhances safety, stability, and extends the working range of facade-cleaning robots on complex structures.
  • This innovation offers a practical solution for improving robotic facade maintenance in modern architecture.