UNIVERSITAS INDONESIA CONCEPTUAL DESIGN OF...

UNIVERSITAS INDONESIA

CONCEPTUAL DESIGN OF AUTONOMOUS WINDOWS

CLEANING ROBOT FOR HIGH-RISE BUILDING WITH A

FLAT FAÇADE

SKRIPSI

MICHAEL TITONO

04 04 01 05 03

FAKULTAS TEKNIK

PROGRAM STUDI TEKNIK SIPIL

DEPOK

JANUARI 2011

Conceptual design..., Michael titono, FT UI, 2011.

UNIVERSITAS INDONESIA

CONCEPTUAL DESIGN OF AUTONOMOUS WINDOWS

CLEANING ROBOT FOR HIGH-RISE BUILDING WITH A

FLAT FAÇADE

SKRIPSI

Diajukan sebagai salah satu syarat untuk memperoleh gelar Sarjana Teknik

pada Program Studi Teknik Sipil, Fakultas Teknik, Universitas Indonesia

MICHAEL TITONO

04 04 01 05 03

FAKULTAS TEKNIK

PROGRAM STUDI TEKNIK SIPIL

DEPOK

JANUARI 2011


ii Universitas Indonesia

HALAMAN PERNYATAAN ORISINALITAS

Skripsi ini adalah hasil karya saya sendiri,

dan semua sumber baik yang dikutip maupun dirujuk

telah saya nyatakan dengan benar.

Nama : Michael Titono

NPM : 04 04 01 05 03

Tanda Tangan :

Tanggal : 19 Januari 2011


Skripsi ini diajukan oleh

Nama

NPM

Program Studi

Judul Skripsi

Telah berhasil dipertahankan disebagai bagian persyaratan yangSarjana Teknik pada ProgramUniversitas Indonesia

HALAMAI{ PENGESAHAN

Michael Titono

04 04 01 05 03

Teknik Sipil

Conceptual Design Of Autonomous Windows CleaningRobot For High-Rise Building With A Flat Fagade

hadapan Dewan Penguji dan diterimadiperlukan untuk memperoleh gelar

Studi Teknik Sipil, Fakultas Teknik,

Penanggung jawab : Prof. Dr. Ir. Irwan Katili, DEA

Ditetapkan diTanggal

: Depok: 19 Januari 2009

Universitas lndonesia


v Universitas Indonesia

HALAMAN PERNYATAAN PERSETUJUAN PUBLIKASI

TUGAS AKHIR UNTUK KEPENTINGAN AKADEMIS

Sebagai sivitas akademik Universitas Indonesia, saya yang bertanda tangan di bawah ini : Nama : Michael Titono NPM : 04 04 01 05 03 Program Studi : Sipil Departemen : Teknik Sipil Fakultas : Teknik Jenis karya : Skripsi demi pengembangan ilmu pengetahuan, menyetujui untuk memberikan kepada Universitas Indonesia Hak Bebas Royalti Noneksklusif (Non-exclusive Royalty-Free Right) atas karya ilmiah saya yang berjudul :

“Conceptual Design Of Autonomous Windows Cleaning Robot For High-Rise Building With A Flat Façade”

beserta perangkat yang ada (jika diperlukan). Dengan Hak Bebas Royalti Noneksklusif ini Universitas Indonesia berhak menyimpan, mengalihmedia/formatkan, mengelola dalam bentuk pangkalan data (database), merawat, dan mempublikasikan tugas akhir saya selama tetap mencantumkan nama saya sebagai penulis/pencipta dan sebagai pemilik Hak Cipta. Demikian pernyataan ini saya buat dengan sebenarnya.

Dibuat di : Depok Pada tanggal : 19 Januari 2011

Yang menyatakan

(Michael Titono)


vi Universitas Indonesia

ABSTRAK

Nama : Michael Titono

Program Studi : S1 Struktur Departemen Sipil FTUI

Judul : Conceptual Design Of Autonomous Windows Cleaning Robot For High-Rise Building With A Flat Façade

Penelitian ini bertujuan untuk menghasilkan sebuah konsep dari robot otomatis yang berfungsi membersihkan jendela dari gedung pencakar langit dengan permukaan yang rata. Dimana robot ini diharapkan dapat menggantikan pekerjaan manusia dan mengurangi resiko kecelakaan. Robot ini dapat bergerak secara bebas pada permukaan kaca gedung dan membersihkan permukaan kaca jendela dengan efisien. Dan robot ini akan mempunyai fitur penting lainnya yaitu sistem pengunci keamanan apabila terjadi badai secara tiba-tiba sehingga tidak menimbulkan kejadian yang tidak diinginkan. Penelitian ini akan memberikan gambaran awal dari desain robot pembersih jendela yang diharapkan dapat bekerja dan dikembangkan lebih lanjut.

Kata kunci :

Robot, axiomatic design, pembersih jendela, bangunan pencakar langit, konsep, autonomous robot


vii Universitas Indonesia

ABSTRACT

Name : Michael Titono

Program : S1 Struktur Departemen Sipil FTUI

Title : Conceptual Design Of Autonomous Windows Cleaning Robot For High-Rise Building With A Flat Façade

The goal of this research is to make a conceptual design of autonomous windows cleaning robot for high-rise building. This robot can move freely on the surface of the glass windows and clean the windows efficiently. This robot will also have an important features which is a safety lock mechanism whenever there are sudden storm to prevent accident happens. This research will present the initial design of the windows cleaning robot hopefully to work and be further developed in the future.

Key words:

Robot, axiomatic design, windows cleaning, high-rise, conceptual, autonomous robot


viii Universitas Indonesia

LIST OF IMAGES, PHOTOS AND GRAPHIC

Figure 1. Design Process .......................................................................................... 3

Figure 2. Cost of making changes during different phases of the design life cycle 4

Figure 3. Mapping of the Axiomatic design ............................................................ 6

Figure 4. Concept of domains ................................................................................. 6

Figure 5. Example of uncoupled design .................................................................. 7

Figure 6. Origin of Corollaries ................................................................................. 8

Figure 7. Indepence of Axiom ................................................................................. 9

Figure 8. Diagram of design process used ............................................................ 10

Figure 9. Image of SIRIUSc at munich ................................................................... 13

Figure 10. Image of ARCOW and cleaning system at Leipzig Trade Fair ............... 13

Figure 11. Design equation ................................................................................... 17

Figure 12. Example of motorized linear actuator, ball screws ............................. 19

Figure 13. Example of motorized linear actuator, lead screws ........................... 20

Figure 14. The sketch of conceptual design of windows cleaning robot .............. 22

Figure 15. Example movement of robot to the right by combination of suction

pump and motorized linear actuator. ................................................................... 23

Figure 16. Example movement of robot going up by combination of suction pump

and motorized linear actuator. ............................................................................. 23

Figure 17. Model of the robot in CATIA ................................................................ 24

Figure 18. Model of the robot in other angle in CATIA ......................................... 25

Figure 19. Model of the back of the robot in CATIA ............................................. 25


ix Universitas Indonesia

TABLE OF CONTENT

HALAMAN PERNYATAAN ORISINALITAS ............................................................................. ii

HALAMAN PENGESAHAN ................................................................................................... iii

CERTIFICATION PAGE ..........................................................................................................iv

HALAMAN PERNYATAAN PERSETUJUAN PUBLIKASI ........................................................... v

ABSTRAK ..............................................................................................................................vi

ABSTRACT ........................................................................................................................... vii

LIST OF IMAGES, PHOTOS AND GRAPHIC ......................................................................... viii

TABLE OF CONTENT ............................................................................................................ ix

CHAPTER 1. INTRODUCTION .............................................................................................. 1

CHAPTER 2. REVIEW OF THE LITERATURE ......................................................................... 2

2.1 Autonomous Mobile Robots ................................................................................. 2

2.2 Conceptual Design ................................................................................................ 3

2.2.1 Engineering Design ....................................................................................... 4

2.2.2 Axiomatic design ........................................................................................... 5

CHAPTER 3. METHODS ..................................................................................................... 10

3.1 Needs .................................................................................................................. 11

3.2 Works Already Done ........................................................................................... 12

CHAPTER 4. PROCESS OF DESIGN .................................................................................... 14

4.1 Defining Functional Requirements (FRs) ............................................................ 14

4.2 Defining Design Parameters (DPs) ...................................................................... 16

4.3 Defining Design Equation .................................................................................... 17

4.4 Choosing the concept from Design Parameter ................................................... 18

4.4.1 Cleaning Module ......................................................................................... 18

4.4.2 Kinematic Module ....................................................................................... 18

4.4.3 Control Module ........................................................................................... 20

4.4.4 Sensor Module ............................................................................................ 21

4.5 Sketch Of The Concept Model ............................................................................ 21

4.6 Movement Of The Concept Model ..................................................................... 22

CHAPTER 5. MODELING WITH CATIA ............................................................................... 24

CHAPTER 6. CONCLUSION ................................................................................................ 27

BIBLIOGRAPHY .................................................................................................................. 28


1 Universitas Indonesia

CHAPTER 1

INTRODUCTION

Nowadays, almost every major city around the world has high rise building. This

has become a need in these cities followed by the fast growing population and

space needed for living. A high-rise building is an ideal structure based on the

space provided compared to a normal building which offer less space in the same

amount of land. And every building needed maintenance and also cleaning on

their lifetime. There have been some problems in the cleaning of the high rise

building, because each year many lives have been lost because of the accident in

the process of cleaning a high rise building.

This accident has been caused by a sudden weather change or even human’s error.

There has been a lot of accident because the cleaner didn’t know there was a

sudden storm, so they got caught in the storm and got killed. And even sometimes

the rack’s supporting the cleaner also destroys the building’s façade. This is very

dangerous for the people inside the building and also the cleaner.

Until now there’s still a lot of high rise building cleaned by humans manually. So

to reduce human fatality caused by the accident, i want to make a conceptual

design of robot that can replace the human role in cleaning the window of a high-

rise building. Hopefully with this design, it can reduce the accidents and with that

also reduce the human’s risk of dying.



CHAPTER 2

REVIEW OF THE LITERATURE

2.1 Autonomous Mobile Robots

Autonomy of robots depends on to what extent a robot relies on prior knowledge

or information from the environment to achieve its tasks. Robots can be divided

into three classes of autonomy: non-, semi- and fully-autonomous robots.

- Non-autonomous robots are completely remotely steered by humans. The

intelligence involved in these robots consists of interpreting the commands

received from human controllers.

- Semi-autonomous robots can either navigate by themselves, or be steered

by humans

- Fully-autonomous robot vehicles are steered solely by the robots

themselves. The robots do not require human interaction to fulfill their

tasks. Fully autonomous robot is capable of intelligent motion and action,

without requiring any external guidance to follow or control them.

Whether or not autonomy is desired depends on the situation. For robot

manipulators in industrial settings it is not a problem being non-autonomous. In

fact, a producer of products probably does not want his robots to do things on

themselves, but rather sees them do exactly what he wants them to do. Besides

this, non-autonomous robots that can perform the same sequence of actions over

and over again are less expensive and more reliable than manpower.

On the other hand, when using robots to perform tasks of which we do not know

each and every action to be taken, we do not want to specify each action. We

rather want a robot to achieve some general goal that we specify, determining on

itself how to get to this goal. A robot should therefore be semi- or fully-

autonomous.


2

C

m

B

w

T

c

c

s

T

e

2.2 Concept

Conceptual

makes a “co

Below is the

which it can

The concept

cost, about

conceptual

suitable solu

This phase i

exponentiall

tual Design

Design is th

oncept” only

e example of

n necessarily

tual design

75% is com

design; 1. O

utions.

is important

ly the cost fo

he initial sta

design.

f the commo

vary and tai

Figure

is a distinct

mmitted in

Obtaining a

as changes m

or making th

age of the de

on design pr

ilored to fulf

1. Design Pr

t phase and

this phase.

a rich soluti

made after th

hat change.

esign proces

rocess used i

fill specific d

rocess

of all the t

There are t

ion set; 2.

he prelimina

ss. This desi

in designing

design proce

total product

two sub-pha

Selection of

ary design w

3

ign process

g a concept,

ess.

t life-cycle

ases of the

f the most

will increase


Figure 2. Co

2.2.1

The

assis

same

First

And

The

comp

proce

engin

state

ost of makin

1 Engineerin

engineering

st an engine

e as engineer

t we will see

Problem

Problem

Solution

Problem

below are c

Problem

contradic

Problem

Solutions

Problem

engineering

ponent, or p

ess (often i

neering scie

d objective.

g changes d

ng Design

g design pro

er in creatin

ring science

characterist

statement is

has a readily

is unique an

uses special

haracteristic

statement

ctory

does not hav

s are neither

requires inte

g design is d

process to m

terative) in

nces are app

Among the

during differe

ocess is a fo

ng a produc

as will be ex

tic an Engine

compact an

y identifiable

nd compact

lized knowle

cs of an Engi

is incom

ve a readily

unique nor

egration of k

defined as t

meet desired

which the

plied to conv

e fundament

ent phases o

ormulation o

ct. Engineeri

xplained bel

eering scienc

nd well-pose

e closure

edge

ineering Des

mplete, am

identifiable

compact

knowledge fr

the process

d needs. It

basic scienc

vert resourc

tal elements

of the desig

of a plan or

ing design a

low.

ce problem:

d

sign Problem

mbiguous,

closure

rom many fi

of devising

is a decisio

ces, mathem

ces optimally

of the desi

4

n life cycle

scheme to

are not the

m:

and self-

ields

g a system,

on making

matics, and

y to meet a

ign process


5

Universitas Indonesia

are the establishment of objectives and criteria, synthesis, analysis,

construction, testing and evaluation.

Below are the ten step models of design process:

1. Recognizing the need

2. Defining the problem

3. Planning the project

4. Gathering information

5. Conceptualizing alternative approaches

6. Evaluating the alternatives

7. Selecting the preferred alternative

8. Detailed design

9. Communicating the design

10. Implementing the preferred design

The first nine steps are the most important step and it is necessary to

follow that entire step to have a good product design.

2.2.2 Axiomatic design

Axiomatic design is a systems design methodology using matrix methods

to systematically analyze the transformation of customer needs into

functional requirements, design parameters, and process variables.

The method gets its name from its use of design principles or design

Axioms governing the analysis and decision making process in developing

high quality product or system designs.

The “functional requirements” and “design parameters” terms are

introduced to deal with this interplay. The function is defined as something

to be achieved, the project goal.

Functional requirements (FRs) are defined as a minimum set of

independent requirements that completely characterizes the functional

needs for the product in the functional domain.


Desi

phys

Axio

phys

To u

chara

gn paramet

sical entity cr

omatic desig

sical space to

F

understand th

acteristic of

ters (DPs):

reated by the

n is a mappi

o satisfy the

Figure 3. Ma

Figure

he concept

the four dom

are the key

e design pro

ing process f

designer-spe

apping of the

e 4. Concept

of domain,

main of the d

y variables

ocess to fulfil

from the fun

ecified FRs.

e Axiomatic

t of domains

below are th

design world

that charac

ll the FRs.

nctional spac

design

s

he explanati

d for various

6

cterize the

ce to the

ions of the

designs.


Imag

To g

prov

The

there

Axio

funct

Axio

the d

The

FRs”

a sp

affec

DPs

will

ge 5. Charac

guide on det

vides guidelin

axioms are

e are no coun

om 1: The I

tional requir

om 2: The I

design.

first axiom i

”. In an acce

ecific DP m

cting the oth

to FRs, the

affect only i

cteristic of th

termining th

nes for desig

self-evident

nter-example

Figure 5. E

Independenc

rements (FR

Information

is the indepe

eptable desig

may be chan

hers. It establ

mapping mu

its respective

he four doma

design

he domains

gners. These

truths that a

es or excepti

xample of u

ce Axiom. M

s).

Axiom. Min

endence axio

gn, DPs and

nged to sati

lishes that du

ust be such t

e FR.

ain of the de

ns

relations, th

e guidelines

are always o

ions.

uncoupled de

Maintain the

nimize the i

om: “Mainta

FRs are rela

isfy its corre

uring design

that a perturb

esign world f

he axiomatic

are the desi

observed to b

esign

e independe

information

ain the indep

ated in such

espondent F

n process, co

bation in a s

7

for various

c approach

gn axioms.

be true and

ence of the

content of

pendence of

a way that

FR without

oming from

specific DP


The

conte

with

mini

integ

inter

proje

prob

Desi

desig

affec

unco

DPs

affec

desig

To h

Thes

second axio

ent of design

less inform

mize the nu

grated parts m

rchangeable

ects that ha

ability of su

gns that do

gns. In these

cting at least

oupled or dec

are totally in

cts two or mo

gn it is very

help with axi

se corollaries

Corollary

Decouple

coupled o

Corollary

Minimize

Corollary

om is the in

n”. Among a

mation con

umber of fun

maintaining

parts and, re

ave reduced

uccess.

not satisfy

e designs, it

t two FRs. D

coupled. Th

ndependent,

ore FRs. Thu

important.

omatic desig

Figure

s are:

y 1: (Decoup

e of separat

or become in

y 2: (Minimi

e the number

y 3: (Integrat

nformation a

all designs t

ntent is the

nctional requ

its function

ender symme

d informati

y the indepe

is impossib

Designs whic

e difference

whereas in

us, the adjus

gn, there are

e 6. Origin of

pling of Coup

te parts or

nterdependen

ization of FR

r of FRs and

tion of Phys

axiom: “Min

that satisfy t

best. Ther

uirements an

nal independ

etry as much

ion content,

endence axio

ble to adjust

ch satisfy the

is that in an

decoupled d

stment order

7 corollarie

f Corollaries

pled Design

aspects of

nt in the des

Rs)

d constraints

ical Parts)

nimize the in

the first axio

refore, desig

nd constrain

dence, use sta

h as possible

, expressing

om are calle

a specific D

e first axiom

n uncoupled

designs, at le

r of DPs in a

es to follow:

s

n)

a solution i

igns propose

.

8

nformation

om, the one

gns which

nts, present

andard and

e, will yield

g a better

ed coupled

DP without

m are called

design the

east one DP

a decoupled

if FRs are

ed.


We

exam

And

coup

the r

of FR

Integrate

independ

Corollary

Use stand

is consist

Corollary

Use symm

with the F

Corollary

Specify t

Corollary

Seek an

coupled d

can see the

mple:

for the idea

pled design a

redundant de

R.

design feat

dently satisfie

y 4: (Use of

dardized or

tent with the

y 5: (Use of

metrical sha

FRs and con

y 6: (Largest

the largest al

y 7: (Uncoup

uncoupled

designs in sa

e mathemati

Figure

al design is

are number o

esign which

tures in a si

ed in the pro

Standardizat

interchange

e FRs and co

Symmetry)

apes and/or a

nstraints.

t Tolerance)

llowable tole

pled Design

design tha

atisfying a se

ical represen

e 7. Indecen

a number of

of DPs large

has the num

ingle physic

oposed solut

tion)

able parts if

onstraints.

arrangement

erance in sta

with Less In

at requires

et of FRs.

ntation of A

cy of Axiom

f DPs equal

r to the num

mber of DPs

cal part if F

ion.

f the use of

ts if they are

ting FRs.

nformation)

less inform

Axiom with

m

to number

mber of FR. T

larger than t

9

FRs can be

these parts

e consistent

mation than

h the 3-FR

of FR, and

The last are

the number


FFor this rese

1. Reco

2. Defin

3. Plann

4. Gath

5. Conc

6. Evalu

7. Selec

8. Deta

9. Com

The desi

earch, the wr

ognizing the

ning the prob

ning the proj

hering inform

ceptualizing

uating the al

cting the pre

ailed design

mmunicating

ign process i

Figu

C

M

riter will foll

need

blem

ject

mation

alternative a

lternatives

eferred altern

the design

is drawn at th

ure 8. Diagra

10

CHAPTER 3

METHODS

low this step

approaches

native

he diagram b

am of design

3

p of design p

below:

n process us

rocess:

sed


11


3.1 Needs

For the design process, the important thing is to define the need. This need should

have a clear and flexible statement so it’s easier to exploring alternative design.

To state the need, we need to know first of the motivation for this design. As

written in the chapter 1, there are many accidents happened in the last few year in

the window cleaning of a building. And that accidents cost a lot of damage and

loss of money, especially where there are people died because of that accident. So

the motivation is to “Build a model of automatic robot that can replace the human

role in cleaning the windows of a high-rise building”.

Based on that motivation, the needs recognized for this task are:

1. Fully autonomous.

This robot should be fully autonomous because of the harsh condition of

the weather and it will operate on a high rise building, which will make it

difficult if it do its work controlled by people all the time. And also the

robot have to be used as semi-autonomous too if needed and can be guided

by operator whenever it’s needed.

2. Stable.

Because the robot will work in a high rise building which usually are very

tall and there are many disturbance by wind. The robot should be stable in

every condition, so that it will not harm anyone in the process of cleaning

a window.

3. Precise and Effective (cost & time).

This robot will replace human in cleaning the windows, but it will not be

cost effective if the robot clean the windows very slow compared to

humans or don’t clean very well. So this robot should clean the windows

fast and really clean.


12


4. Safety.

This is the most significant need for the robot, because this robot will

replace humans work to avoid accidents. So the robot should be made as

safe as possible considering of all the situations that can occurs. Especially

for the sudden storm which has cost many human lives because of the

accidents.

5. Low-Cost.

This is important to have an economical robot which is not expensive to

produce so it will become a consideration for the owners of the building to

consider using robot instead of manual windows cleaning.

6. Easy maintenance.

For a product that will be commercially used, the maintenance should be

easy. With high maintenance it will make it non-feasible to the market.

And of course with easy maintenance it will make the robot use-life longer

and the cost of maintenance is lower.

3.2 Works Already Done

There are many types of robot cleaning available and there are many prototypes,

but these robots may not be feasible or too expensive and are usually made for a

specific type of building. This research is about a windows cleaning robot for high

rise building with a flat façade. Below are the examples for the other robots:


Figure

Fi

10. Image o

gure 9. Imag

of ARCOW a

ge of SIRIUS

nd cleaning

Sc at Munich

g system at L

h

Leipzig Trade

13

e Fair



CHAPTER 4

PROCESS OF DESIGN

After the needs are stated and some research done about other works that have

been done, now we will design the robot with the axiomatic design theorem. First

of all we need to define the FRs and also the DPs according to our needs.

4.1 Defining Functional Requirements (FRs)

Below are the lists of the Functional Requirement (FR) that have been defined:

FR1 : Clean the window effectively

FR2 : Mobile in all directions

FR3 : Connected wirelessly to operator /monitoring system

FR4 :Detect its position according to window

This can be break down into more specific Functional Requirement:

FR1 : Clean the window effectively

o FR11 : Stay in one position

o FR12 : distribute water uniformly

o FR13 : swipe the window

o FR 14 : storing /recycling the waste water

FR2 : Mobile in all directions

o FR21 : Horizontal, vertical and transversal movements

o FR22 : Make precise movements

o FR23 : Carry the kinematic and cleaning module safely

FR3 : Connected wirelessly to operator /monitoring system

o FR31 : Stable connection o FR32 : Monitoring of information regarding the parameters o FR33 : Engage safety lock wirelessly

FR4 :Detect its position according to window


15


o FR4 : Sense its location at different positions on the building

These functional requirements are made to fulfill all the needs defined in chapter

3. The first Functional Requirement of course is a must for a windows cleaning

robot, because the task that the robot is designed are primarily for cleaning

windows, to replace human work in this type of field work. And the robot must do

it effectively with combination of efficient cleaning method and good cleaning

result.

The second Functional Requirement, mobile in all directions. For a windows

cleaning robot that will work to clean a flat façade of high rise building, we need a

robot that can move in all directions, because there will be obstacles in the facades

like the separation of windows, or maybe an open window, or else the façade

surface have some non-glass cover that need to be avoided. So we need to have a

three axis of movement.

For the third Functional Requirement, connected wirelessly to operator/

monitoring system. This is required even for fully-autonomous robot because this

robot will work in open spaces and need to be controlled when necessary. And

with this monitoring system, then the operator will know the condition of the

robot and also the progress of the work that have been done. Especially this

wireless system will be used to activate a safe mode which will make the robot to

avoid accident when a sudden storm arrived if the robot didn’t activate it or have

broken sensors.

And the last of the Functional Requirement are to detect its position according to

window. This is an important requirement for the robot to be fully functional and

fully-autonomous, because without the position the robot don’t know what to

clean and also where to clean.

We can divide again the Functional Requirement to each sub-Functional

Requirement. The FR1 are to clean the windows, these must be achieved by

staying in one position, of course for the robot to clean the windows they need to

be stable and stay there. After that the robot must distribute the water or cleaning

liquid uniformly to make it efficient in cleaning. The next step, it should wipe the


16


window from the liquid that have been distributed on the windows, this action is

to clean the windows from the liquid and make the windows clear. And the last

one are to store/recycle the waste water, because this robot will work in high rise

building and we don’t want the water to drop to the ground where people may

walk below it. And for the reason of economy, we should think of a way to

recycle it then use the water again for cleaning.

For the FR2 we need to have horizontal, vertical and also transversal movements

as we mentioned earlier. And because we are working in a high rise building, we

need to have precise movements and also the ability to carry the kinematic and

cleaning module safely.

As have been explained before, for FR3 we need a feature to engage safety lock

wirelessly. And the monitoring of the information is also very important to know

the status of the robot. The wireless connection should have a stable connection

and don’t have interference with other electronic devices.

As for FR4 there is no sub-Functional Requirement. These four requirements are

necessary for designing a conceptual windows cleaning robot.

4.2 Defining Design Parameters (DPs)

Based on the research done, the most common windows cleaning robot should

have 4 modules. That is the cleaning module, kinematic module, control module,

and also sensor module. These module will be the our design parameters as

described below

Dp1 : The Cleaning module

This is for the cleaner part of the robot.

Dp2 : The Kinematic module

This functions for the movement of the robot.

Dp3 : The Control module

This functions for the control of the robot.


4

Wd

T

t

a

T

e

F

o

R

F

A

c

m

s

W

w

c

m

Dp4

This

4.3 Defining

With all the described be

This is a cou

the matrix is

a coupled de

To get the d

each sub-FR

Functional R

one or mor

Requiremen

Functional R

As for Func

control mod

make a stab

sensor modu

We can see

which is to b

control mod

module.

: The Sensor

is for sensor

g Design Eq

Functional Refore, now w

upled design

s a half matr

esign.

esign matrix

R. Each de

Requirement

re of the Fu

nt 4, it is th

Requirement

tional Requi

dule will hav

ble connectio

ule will give

that Functi

be mobile in

dule and the

r module

r of the robo

quation

Requiremenwe can make

Figure 1

n because nu

rix so it’s a d

x, first we ha

sign parame

t, the relatio

unctional R

he sensor m

t to detect its

irement 3 ca

e the functio

on with the

its data abo

ional Requir

n all directio

e actuators

ot.

ts (FRs) anda design equ

1. Design eq

umber of DP

decoupled d

ave to see the

eter will gi

on of the De

Requirement.

modules (DP

s position.

an be covere

on of monito

operator or

ut the locatio

rement 2 ha

on. This mov

for the mo

d the Design uation:

quation

Ps smaller th

design. So th

e connection

ive us a fu

esign Parame

. We can s

P4) which o

ed by the DP

oring the stat

r exterior co

on, and othe

ave connecti

vement shou

ovement wil

Parameters

han number

his design is

n between ea

unction that

eter can cor

see for the

only fulfill

P4 and DP3, b

tus of the rob

ontrol system

er things.

ion with DP

uld be contro

ll be in the

17

(DPs)

of FRs but

better than

ach DP and

fulfill the

rrelate with

Functional

the fourth

because the

bot. And to

m. And the

P3 and DP2

olled by the

kinematic


18


And for the last of the Functional Requirement, the FR1 will be fulfilled by all of

the Design Parameter which is the cleaning module, the kinematic module, the

control module and the sensor module. The cleaning module is essential to clean

the windows, and of course it needs the kinematic module to move the cleaning

module. Where the control module will process all the commands to clean the

window. And the sensor module will tell the location to clean and also to sense

the windows cleanliness level.

4.4 Choosing the concept from Design Parameter

After we know the design parameter necessary, it’s time to start the conception of

these four design parameter.

4.4.1 Cleaning Module

Choosing of the cleaning module is important in this step of design,

because the cleaning module will also affect how the other module will be

chosen. The goal of this research, which are to research a windows

cleaning robot capable of working on a high rise building with a flat

façade, and the material that needs to be cleaned are glasses. Then the

choice for cleaning the windows are with a sprayer of liquid material, then

the circular wiper to clean the liquid from the windows and also a liquid

collector that works as a reservoir and also clean the rest of the windows.

And the cleaning module will stay fixed to the robot because the part of

the robot that will move will be the robot moved by the kinematic module.

4.4.2 Kinematic Module

To make this robot as simple as possible, the kinematic module in this

robot would be a motorized linear actuator. There are many choices of the

motorized linear actuator like:

Lead Screw

Ball screws

Fluid power (i.e., hydraulics and pneumatics)

Gear trains (e.g., worm drives, rack-and-pinion drives)


For

choic

ball s

Belo

And

Mean

Electrom

the reason

ces of the m

screw.

Figure 12.

ow are the ad

Large

Comp

Simp

Easy

Large

Precis

Smoo

Minim

Most

the disadvan

Not v

High

nwhile for th

magnetic actu

of simplicit

motorized lin

. Example of

dvantages of

e load carryi

pact

le to design

to manufact

e mechanica

se and accur

oth, quiet, an

mal number

are self-lock

ntage of the

very efficient

degree fricti

he Ball Bear

uation (e.g., s

ty of the ro

near actuator

f motorized

f the Lead Sc

ng capability

ture; no spec

l advantage

rate linear m

nd low maint

of parts

king

Lead Screw

t

ion on the th

ring system c

solenoids)

obot, then t

r which is t

linear actua

crew system:

y

cialized mach

motion

tenance

w system:

hreads

compared to

there are tw

the lead scre

ator, ball scr

:

hinery is req

o the Lead Sc

19

wo feasible

ew and the

rews

quired

crew are:


For t

need

desig

4.4.3

The

and

carri

senso

This

able

intern

A typ

perce

More

More

More

Figure 13.

the conceptu

d to be define

gn is comple

3 Control M

control mod

control all t

ed by the ro

or or from th

control mo

to apply or

nal friction

pical ball sc

ent efficiency

e precise

e bulky

e expensive

Example of

ual design s

ed precisely

ete.

Module

dule are all t

the moveme

obot and it

he operator a

odule will n

r withstand

crew may b

y of an Acm

f motorized

step, the cho

yet, it will b

the electroni

ent of the ro

will process

and then tran

not be detai

high thrust

be 90 percen

me lead screw

linear actua

oice of the l

be re-evaluat

ically system

obot. This c

s all the sig

nslate it to m

iled because

loads with

nt efficient,

w of equal siz

ator, lead sc

linear actuat

ted after the

m necessary

control modu

gnal and dat

movement of

e this is an

20

h minimum

versus 50

ze

rews

tor doesn’t

conceptual

to process

ule will be

ta from the

f the robot.

electronic


21


problem and processing method which are not required first in conceptual

design.

4.4.4 Sensor Module

The sensor module will either be a camera like sensor or Infrared sensor to

detect the distance and also the cleanliness of the windows. This sensor

will be needed to be placed in the right position to detect its location at the

building and also to be able to monitor its activity. The type of the sensor

will also not be specified as this will be specified later after the concept

model is finished.

4.5 Sketch Of The Concept Model

With all the necessary design parameter defined, now is the time to sketch the

concept model. As for the safety of the robot, this robot must be hanged fixed

with a rooftop crane that can move freely around the building, because this robot

will work in a high rise building, we don’t want the robot to move independently

at the building without protection. This crane will work as a robot positioning and

also as safety precautions. If the robot malfunctions, then it will not fall to the

ground directly but it will be hanged by the crane and can be pulled up to safety.

Besides that the crane will also supply the robot with electricity and also other

media like the cleaning liquid and also the direct connection with the operator on

the rooftop. So our robot will have the kinematic module to move at the building

helped by the crane to move it at the initial position, but we want the robot to

position itself to make it precise. Because for a high rise building, the length of

the steel rope to hang the robot will be very long and it can make a big deviation if

we rely to the crane for the robot positioning.

To make it stable for cleaning the windows, we need the robot to be fixed to the

glass windows; this can be achieved by suction motion of the robot to the

windows. And to make the positioning easy, we need to make the robot can move

in two direction easily without the help of the crane. This can be done by the help

of the motorized linear actuator and also the suction pump. With the combination


w

i

A

b

a

r

m

4

T

c

m

work of bot

independent

And for the

brush will h

actuator that

robot. This s

movement o

Figure

4.6 Moveme

This concep

combined w

move.

th the suctio

tly in two dir

cleaning m

have only c

t will wipe

sketch are st

of the robot a

14. The sket

ent Of The

pt model can

with the six s

on pump an

rections whi

motion, we w

circular mot

the cleaning

till a concep

and can be th

tch of conce

Concept Mo

n move with

suction pump

nd the actuat

ch will be de

will put the b

tion and the

g liquid. Be

ptual design

hree dimensi

eptual desig

odel

h the help of

p. Below ar

tor, we can

etailed in the

brush at the

e movement

elow we can

only to prov

ional with th

n of window

f the six mo

e the figures

make the r

e next sub-ch

arm of the

t will be do

n see the ske

vide a two d

he help of the

ws cleaning

otorized line

s of how the

22

obot move

hapter.

robot. The

one by the

etch of the

dimensional

e crane.

robot

ear actuator

e robot can


23


Figure 15. Example movement of robot to the right; by combination of suction pump and motorized linear actuator.

Figure 16. Example movement of robot going up; by combination of suction pump and motorized linear actuator.

The movement of the robot to the right and up can be reversed to make the robot

move to left and down. That way the robot can move in all direction with all that

combination. Even the robot can move with other combination of actuator if

necessary. And it’s the same way for the cleaning motion to work. All the four

suction pump will turn on at the top part and bottom part of the robot and then the

robot will be fixed into the windows and can start the cleaning process. Where the

arm can move all around the window with the help of the actuator and it can reach

to almost every place reachable in the robot’s body.

= Suction off = Suction on

= Suction off = Suction on


T

C

a

T

a

t

r

d

s

d

b

r

T

b

s

t

The concept

CATIA to r

address all th

The size for

and efficient

the windows

robot and 2

design. And

strong and c

defined here

be made, wi

robot.

The Robot c

body of the

suction pum

the green on

t of the robo

realize the c

he issues wi

r this robot h

t, we need at

s. That can b

2,5 meter fo

the choice o

can withstan

e, but the mo

ith how man

consists of th

robot, all th

mp at each co

ne in the ima

Fig

C

MODELI

ot has been

conceptual d

th the design

has not yet b

t least the siz

be considere

r the height

of the materi

nd the weath

odeling are t

ny part is th

hree main re

he actuators a

orner of the

age 17 below

gure 17. Mod

CHAPTER 5

ING WITH

defined and

design into

n.

been defined

ze of the rob

ed around 3

t. This size

ial for the ro

her and its o

to know the

he model bee

ctangular ob

are fixed in

body. The m

w.

del of the ro

5

H CATIA

d now we wi

a more real

d yet, but for

bot will be b

meter in siz

is chosen j

obot will be t

own weight

feasibility o

en made and

bjects which

this body, a

main bodies

obot in CATI

ill try to mo

l design and

r the robot to

igger than th

ze for the w

ust for the

the least exp

t. The mater

of the model

d the movem

h is the main

and there are

s are the blu

A

odel it with

d to try to

o clean fast

he width of

width of the

conceptual

pensive, but

rial are not

l like can it

ment of the

part of the

e four main

ue ones and


A

l

t

l

b

c

l

And there ar

linear actuat

the “arm” of

liquid clean

bottom body

corner of th

location as w

Figure 18.

re the wipers

tor in the mi

f the robot, w

ner sprayer w

y there will

he bottom bo

well to identi

Figure 19

Model of th

s in color of

iddle of the g

which has th

will be put

be a wiper

ody there ar

ify the clean

9. Model of

he robot in o

f orange. Thi

gray plate. T

he wiper, bru

at the top b

to wipe the

e also two s

nliness of the

the back of

other angle

is wiper is m

That plate ha

ush, and the

body and at

e rest of the

sensors need

e windows cl

the robot in

in CATIA

moved by the

as a function

suction pum

the upper p

liquid clean

ded to locate

leaned.

n CATIA

25

e motorized

n to support

mp. And the

part of the

ner. At the

e the robot


26


With the sudden change of weather or sudden storm in mind, we need to have a

safety lock mechanism, to make the robot stop working and stay put in its place to

prevent swaying of the robot. So this safety lock mechanism will operate

whenever there is command from operator or when there are sudden storm. The

control module will automatically activate all the suction pump and so the robot

can stay put glued to the window. With this safety lock mechanism it will make it

sure that the robot won’t cause a crash to the windows blown by the storm or high

velocity wind.

In the appendix there are picture of the movement of the robot with a wiping

motion. So this is the initial concept for the windows cleaning robot designed.


27


CHAPTER 6

CONCLUSION

With this conceptual design of a windows cleaning robot, we produce a concept

robot that can move in all direction and do the cleaning of a window efficiently

and effective. And the robot also have safety feature of locking itself to the

windows whenever necessary to prevent accident. With this research, there are of

course still more things to research and defined for the future of this concept.

Hopefully with this research it can help other research in the future to make better

design for a windows cleaning robot or to continue with this research.


28


BIBLIOGRAPHY

French, M. J. Conceptual Design for Engineers, 3rd ed., 1999

Suh, N.P. The Principles of Design, Oxford University Press, 1990

Suh, N.P. Axiomatic Design. Advances and Applications, Oxford University

Press, 2001

Negenborn, R. Robot Localization and Kalman Filters, Utrecht University, 2003

Elkmann, N., et al., SIRIUSc – Facade Cleaning Robot for a High-Rise Building

in Munich, Germany

Gambao, E., & Hernando, M. Control System for a Semi-automatic Façade

Cleaning Robot, ISARC, 2006

Caro, S., Conceptual Design Course Powerpoint, 2009


BBelow are thee steps for th

A

e cleaning of

APPENDIX

the windowss


30


31


32


33


34


BBelow are thee movementss of the body using combinnation of sucttion pump an

35

nd motor.


36


UNIVERSITAS INDONESIA CONCEPTUAL DESIGN OF...

Documents

Transcript of UNIVERSITAS INDONESIA CONCEPTUAL DESIGN OF...