Diajukan sebagai salah satu syarat untuk memperoleh gelar Sarjana Teknik pada Program Studi Teknik Sipil Fakultas Teknik Universitas Indonesia. Dengan hak bebas royalti noneksklusif ini, Universitas Indonesia berhak menyimpan, memindahkan/memformat, mengelola dalam bentuk database, memelihara dan menerbitkan tugas akhir saya selama masih ada nama saya sebagai penulis/ pencipta dan sebagai pemilik hak cipta. Judul : Desain konseptual robot pembersih jendela otonom untuk bangunan bertingkat tinggi dengan fasad datar.
Title : Conceptual design of autonomous window cleaning robot for a tall building with a flat facade. The purpose of this research is to create a conceptual design of an autonomous window cleaning robot for high-rise buildings. This research will present the initial design of the window cleaning robot, with the hope that it will work and be further developed in the future.
INTRODUCTION
REVIEW OF THE LITERATURE
Autonomous Mobile Robots
Conceptual Design
- Engineering Design
- Axiomatic design
To state the need, we must first know about the motivation for this design. Especially for the sudden storm that cost many lives due to the accidents. And with this monitoring system, the operator will know the condition of the robot and also the progress of the work done.
And the last of the functional requirements is to detect its position according to the window. And the monitoring of the information is also very important to know the status of the robot. Universitas Indonesia And for the last of the functional requirements, FR1 will be fulfilled by all.
And the cleaning module remains attached to the robot because the part of the robot that will move will be the robot moved by the kinematic module. To make it stable for window cleaning, the robot must be attached to the glass windows; this can be achieved by sucking the robot to the windows. And to make positioning easy, we need to make the robot move in two directions without the help of the crane.
This can be done with the help of the motorized linear actuator and also the suction pump. The movement of the robot to the right and up can be reversed to make the robot move to the left and down. All four suction pumps will turn on at the upper part and lower part of the robot and then the robot is fixed in the windows and the cleaning process can begin.
In the appendix there are pictures of the movement of the robot with a sweeping motion.
METHODS
Needs
This need should have a clear and flexible statement so that it is easier to explore alternative design. As written in chapter 1, there are many accidents that have happened in the last few years in the window cleaning of a building. And that accidents cost a lot of damage and loss of money, especially where there are people who died because of that accident.
So the motivation is "Building an automatic robot model that can replace the human role in cleaning the windows of a tall building". This robot needs to be fully autonomous due to harsh weather conditions and will operate in a tall building, which will make it difficult if it does its job controlled by humans all the time. And also the robot should also be used as semi-autonomous if needed and can be guided by the operator whenever needed.
Because the robot will work in a tall building which is usually very high and there are many disturbances from wind. The robot must be stable in every condition, so that it will not harm anyone in the process of cleaning a window. This robot will replace the human in cleaning the windows, but it will not be cost-effective if the robot cleans the windows very slowly compared to humans or does not clean very well.
This is the main need of the robot, because this robot will replace human work to avoid accidents. The robot must therefore be made as safe as possible, taking into account all situations that may arise. This is important to have an economical robot that is not expensive to manufacture, so it will become a consideration for the building owners to consider using a robot instead of manual window washing.
And of course, due to easy maintenance, it will extend the life of the robot and the maintenance cost will be lower.
Works Already Done
PROCESS OF DESIGN
Defining Functional Requirements (FRs)
The first Functional Requirement is of course a must for a wiper robot, because the task for which the robot was designed is primarily cleaning the windows, replacing human work in this type of fieldwork. And the robot must do it effectively with a combination of an efficient cleaning method and a good cleaning result. For a window cleaning robot working to clean a flat facade of high-rise buildings, we need a robot that can move in all directions, because there will be obstacles in the facades, such as the separation of windows, or maybe an open window, or else the facade surface has a non-glazed cover that should be avoided.
This is also required for fully autonomous robots because this robot will work in open spaces and must be controlled when necessary. Especially this wireless system will be used to activate a safe mode, which will make the robot avoid the accident when a sudden storm comes if the robot has not activated it or has broken sensors. This is an important requirement for the robot to be fully functional and fully autonomous, because without the position the robot does not know what to clean and also where to clean.
FR1's are meant to clean windows, this needs to be achieved by staying in one position, but of course window cleaning robots need to be stable and stay there. Next, the robot must distribute the water or cleaning liquid evenly in order for the cleaning to be effective. And the last one is waste water storage/recycling because this robot will be working in tall buildings and we don't want water to fall on the ground where people can walk under it.
And for economy, we should think about a way to recycle it and then reuse the water for cleaning. For FR2, we need to have horizontal, vertical and also transverse movements as mentioned earlier. And since we work in a tall building, we need to have precise movements and also the ability to safely carry the kinematic and cleaning module.
As has been explained before, for the FR3 we need a feature to activate the security lock wirelessly.
Defining Design Parameters (DPs)
Universitas Indonesia window of the liquid spread on the windows is this action. The wireless connection must have a stable connection and not interfere with other electronic devices.
Defining Design Equation
The cleaning module is essential to clean the windows, and of course it needs the kinematic module to move the cleaning module. And the sensor module will tell the place to clean and also to see the windows cleanliness level.
Choosing the concept from Design Parameter
- Cleaning Module
- Kinematic Module
- Control Module
- Sensor Module
Electrom the cause of the m screw. magnetic actuator of simple motorized lin. benefits of e load carryi pact. le to design to manufacture e mechanics see and accurate, quiet, a mal number is self-locking ntage of the very effective. grad fricti he Ball Bear. f the Lead Sc ng capacity. trip; no spec l benefit rate linear m nd low maintenance .. ion on the th ring system c . solenoids) obot, then t. The sensor module will either be a camera-like sensor or an infrared sensor to detect the distance and also the cleanliness of the windows. This sensor must be placed in the right position to detect its location in the building and also to be able to monitor its activity.
The type of sensor will not be specified either, as this will be specified later after the concept model is complete.
Sketch Of The Concept Model
Movement Of The Concept Model
Example movement of robot going up; by combination of suction pump and motorized linear actuator. Where the arm can move anywhere around the window with the help of the actuator and it can reach almost every place that can be reached in the robot's body. The concept CATIA te r speaks all the The size for and efficient the windows robot and 2 design.
This size is suitable for the hive and it is good to know the model of the bee. So this safety locking mechanism will work whenever the operator commands or when there is a sudden storm. The control module will automatically activate all the suction pumps and so the robot can stay glued to the window.
With this safety locking mechanism, it ensures that the robot will not collide with the windows blown by the storm or high wind speed. With this conceptual design of a windshield wiper robot, we are making a concept robot that can go in all directions and cleans a window in an efficient and effective manner. And the robot also has a safety feature to lock itself to the windows if necessary to avoid accidents.
With this research, there is certainly still more to research and determine for the future of this concept. We hope that with this research it can help other research in the future to make a better design for a window cleaning robot or to continue with this research.
MODELING WITH CATIA
CONCLUSION
Robot Localization and Kalman Filters, Utrecht University, 2003 Elkmann, N., et al., SIRIUSc – Facade cleaning robot for a high-rise building in Munich, Germany.