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Effective Pneumatic Scheme and Control Strategy of a Climbing Robot for Class Wall Cleaning on High-rise Buildings

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Author(s): Houxiang Zhang | Jianwei Zhang | Guanghua Zong

Journal: International Journal of Advanced Robotic Systems
ISSN 1729-8806

Volume: 3;
Issue: 2;
Date: 2008;
Original page

Keywords: pneumatic climbing robot | pneumatic schemes | segment and variable bang-bang controller

ABSTRACT
A new kind of pneumatic climbing robot is presented to meet the requirements of glass-wall cleaning for high-rise buildings, which is totally actuated by pneumatic cylinders and attached to the glass wall with vacuum suckers. Using the pneumatic actuators the climbing robot can be made lightweight and dexterous. At the same time the movement driven by pneumatic actuators has the characteristic of passive compliance. In order to solve the problems of high speed movement for the Y cylinder and precise position control of the X cylinder, the applied pneumatic schemes of X and Y cylinders are employed to drive the high-speed on-off solenoid valves and an ordinary valve to adjust the air-flow and pressure to the cylinders. Furthermore a method of segment and variable bang-bang controller is proposed to implement the accurate control of the position servo system for the X cylinder during the sideways movement. Testing results show that the novel approach can effectively improve the control quality. This cleaning robot can meet the requirements of realization.
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