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- W3208020420 abstract "• Design conceptualization, mechanisms, modeling and control strategies for efficient glass façade cleaning robot. • Adhesion force characteristics of suction cups for dry and wet glass wall surface. • Energy efficient robot adhesion, continuous locomotion and steering control. • Hybrid PID-PSO control algorithm for path planning simulation and analysis. • Working trials of the developed glass façade cleaning robot to validate the concept. This paper presents a unique design concept, dynamic modeling, and control strategies for efficient coverage path planning of a glass façade cleaning robot (GFCR). The robot design has been conceptualized using mechanisms for adhesion, motion, steering, and cleaning. The dynamic model for robot vertical glass façade cleaning is derived using Lagrangian formulation. A modified particle swarm optimization (PSO) is used to autotune the proportional, integral, and derivative (PID) parameters for the trajectory tracking simulation and it is more efficient and robust compared to the standard PSO algorithm. The path planning algorithm using hybrid PID-PSO approach is also developed for energy-efficient coverage of the robot for glass façade cleaning. The coverage algorithm illustrates the energy-performance of the GFCR for different paths viz., horizontal line sweep (HLS), vertical line sweep (VLS), spiral line sweep (SLS), and special cell diffusion (SCD) motion. Simulation reveals the robot motion for HLS path is the most energy-efficient. The GFCR model with minimum energy consumption has been validated by working trials. The GFCR has potential applications for cleaning high-rise glass façade buildings and photovoltaic (PV) solar panels." @default.
- W3208020420 created "2021-11-08" @default.
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- W3208020420 date "2022-02-01" @default.
- W3208020420 modified "2023-10-14" @default.
- W3208020420 title "Design and development of a glass façade cleaning robot" @default.
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- W3208020420 doi "https://doi.org/10.1016/j.mechmachtheory.2021.104585" @default.
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