Rope-Riding Mobile Anchor for Robots Operating on Convex Facades
The increasing presence of high-rise buildings with curved and convex facades poses significant challenges for facade-cleaning robots, particularly in terms of mobility and anchoring. To address this, we propose a rope-riding mobile anchor (RMA) system capable of repositioning the anchor point of a...
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| Language: | English |
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MDPI AG
2025-07-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/15/4674 |
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| author | Chaewon Kim KangYup Lee Jeongmo Yang TaeWon Seo |
| author_facet | Chaewon Kim KangYup Lee Jeongmo Yang TaeWon Seo |
| author_sort | Chaewon Kim |
| collection | DOAJ |
| description | The increasing presence of high-rise buildings with curved and convex facades poses significant challenges for facade-cleaning robots, particularly in terms of mobility and anchoring. To address this, we propose a rope-riding mobile anchor (RMA) system capable of repositioning the anchor point of a cleaning robot on convex building surfaces. The RMA travels horizontally along a roof-mounted nylon rope using caterpillar tracks with U-shaped grooves, and employs a four-bar linkage mechanism to fix its position securely by increasing rope contact friction. This structural principle was selected for its simplicity, stability under heavy loads, and efficient actuation. Experimental results show that the RMA can support a payload of 50.5 kg without slippage under tensions up to 495.24 N, and contributes to reducing the power consumption of the cleaning robot during operation. These findings demonstrate the RMA’s effectiveness in extending the robot’s working range and enhancing safety and stability in facade-cleaning tasks on complex curved surfaces. |
| format | Article |
| id | doaj-art-e6cdcd6d56474846a3d73c8aa315746f |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-e6cdcd6d56474846a3d73c8aa315746f2025-08-20T03:36:30ZengMDPI AGSensors1424-82202025-07-012515467410.3390/s25154674Rope-Riding Mobile Anchor for Robots Operating on Convex FacadesChaewon Kim0KangYup Lee1Jeongmo Yang2TaeWon Seo3Mechanical Engineering, Hanyang University, 222, Wangsimni-ro, Seoul 04763, Republic of KoreaMechanical Engineering, Hanyang University, 222, Wangsimni-ro, Seoul 04763, Republic of KoreaMechanical Engineering, Hanyang University, 222, Wangsimni-ro, Seoul 04763, Republic of KoreaMechanical Engineering, Hanyang University, 222, Wangsimni-ro, Seoul 04763, Republic of KoreaThe increasing presence of high-rise buildings with curved and convex facades poses significant challenges for facade-cleaning robots, particularly in terms of mobility and anchoring. To address this, we propose a rope-riding mobile anchor (RMA) system capable of repositioning the anchor point of a cleaning robot on convex building surfaces. The RMA travels horizontally along a roof-mounted nylon rope using caterpillar tracks with U-shaped grooves, and employs a four-bar linkage mechanism to fix its position securely by increasing rope contact friction. This structural principle was selected for its simplicity, stability under heavy loads, and efficient actuation. Experimental results show that the RMA can support a payload of 50.5 kg without slippage under tensions up to 495.24 N, and contributes to reducing the power consumption of the cleaning robot during operation. These findings demonstrate the RMA’s effectiveness in extending the robot’s working range and enhancing safety and stability in facade-cleaning tasks on complex curved surfaces.https://www.mdpi.com/1424-8220/25/15/4674rope ridingmobile robotmanipulabilitylinkage mechanism |
| spellingShingle | Chaewon Kim KangYup Lee Jeongmo Yang TaeWon Seo Rope-Riding Mobile Anchor for Robots Operating on Convex Facades Sensors rope riding mobile robot manipulability linkage mechanism |
| title | Rope-Riding Mobile Anchor for Robots Operating on Convex Facades |
| title_full | Rope-Riding Mobile Anchor for Robots Operating on Convex Facades |
| title_fullStr | Rope-Riding Mobile Anchor for Robots Operating on Convex Facades |
| title_full_unstemmed | Rope-Riding Mobile Anchor for Robots Operating on Convex Facades |
| title_short | Rope-Riding Mobile Anchor for Robots Operating on Convex Facades |
| title_sort | rope riding mobile anchor for robots operating on convex facades |
| topic | rope riding mobile robot manipulability linkage mechanism |
| url | https://www.mdpi.com/1424-8220/25/15/4674 |
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