文章基本信息

标题：A Survey of Wall Climbing Robots: Recent Advances and Challenges
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作者：Shunsuke Nansai ; Rajesh Elara Mohan
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2016
卷号：5
期号：3
页码：14-27
DOI：10.3390/robotics5030014
出版社：MDPI Publishing
摘要：In recent decades, skyscrapers, as represented by the Burj Khalifa in Dubai and Shanghai Tower in Shanghai, have been built due to the improvements of construction technologies. Even in such newfangled skyscrapers, the façades are generally cleaned by humans. Wall climbing robots, which are capable of climbing up vertical surfaces, ceilings and roofs, are expected to replace the manual workforce in façade cleaning works, which is both hazardous and laborious work. Such tasks require these robotic platforms to possess high levels of adaptability and flexibility. This paper presents a detailed review of wall climbing robots categorizing them into six distinct classes based on the adhesive mechanism that they use. This paper concludes by expanding beyond adhesive mechanisms by discussing a set of desirable design attributes of an ideal glass façade cleaning robot towards facilitating targeted future research with clear technical goals and well-defined design trade-off boundaries.
关键词：wall climbing robot; façade cleaning robot; nested reconfigurable design principle wall climbing robot ; façade cleaning robot ; nested reconfigurable design principle