GLASS CLEANING ROBOT

Guide- Dr. SWET CHANDAN

Presented By
(Group-22)
ARUNAVA GUPTA (16SCME101098)
AMBRISH YADAV (16SCME101181)
SURYA VIKRAM SINGH (16SCME101094)
RAUNAK RAJ (16SCME101067) 1
 ORIGINALITY OF PROJECT IDEA

• In our Galgotias university , the stairs , balconies are fitted with glass panels.
• The panel is being cleaned by the workers manually.
• This cleaning process is time consuming .
• This also puts the workers life in danger.
• To avoid the above two things we came with idea of building the glass cleaning
robot.

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 LITERATURE REVIEW
• In the earlier times cleaning the window has a always been of great
importance.
• The conventional ways of cleaning windows is by hanging gondolas,
using scaffolding, reaching and washing the windows. But these methods
have their limitation.
• First they put the life of the worker at risk, as manual labor is involved it
reduces efficiency and also manual labor is subject to changes like salary,
climate etc.
• To eliminate these problems, we have come up with a novel solution to
develop a robotic glass cleaner.
• Several work has been done in this field , which are mentioned as:
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• Houxiang Zhang and Jianwei Zhang from university of Hamburg in 2004 ,
presented a paper on REQUIREMENTS OF CLASS CLIMBONG ROBOT.
• They tried to develop a class climbing robot , so that human life could be saved.
• Their robots were operated by pneumatic cylinders.
• They were successful in developing the robot were the cost was too high. They
summarised and compared three sky cleaners robot.
• Their robot could climb wall with slopes.

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• Tohru MIYAKE , Hidenori ISHIHARA, Ryu Shoji [2006] published their paper
on DEVELOPMENT OF SMALL-SIZE WINDOW CLEANING ROBOT BY
WALL CLIMBING MECHANISM .
• They developed prototyped robot consists of two independently driven wheels and
an active suction cup.
• The control system which includes traveling direction controller using
accelerometer and traveling distance controller using rotary encoder and edge
sensors ware installed for autonomous operation.
• The designed robot has errors of not only attitude angle, but also error of
translation motion.

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• ALBAGUL, A. ASSENI, O. JOMAH, M. OMER, B. FARGE
[2010]published their paper on Design and Fabrication of an Automatic
Window Cleaning Robot .
• The robot was controlled using the Programmable Logic Controller
PLC.
• The motion will generated by three servo motors.
• The cleaning process will take about (2.5) minutes to finish a 1 m2
glass window. This time depends on the speeds of the motors and the
degree of dirtiness of the window.

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• Ritesh. G. Mahajan1 , Prof. S. M. Patil [2013] Assistant Professor in College
Of Engineering, Pune published their paper Development of Wall Climbing
Robot for Cleaning Application.
• Their purpose was to build glass cleaning robot that could clean large glass
surfaces with the wiper attached on front surfaces.
• Here they had developed Elecrochuks (Creation of vacuum in suction cup by
using injection syringe operated by D.C.Motor) to obtain adhesion of robot.

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• Vinod kumar M V, Prem kumar naik, Prasad B G, Syed Razeequlla[2014]
published their paper on Design and Fabrication of Automated Glass
Curtain Cleaning Machine .
• The model consists of a triangular metallic frame .
• Cleaning drum along with brushes is fixed to the slider.
• The cleaning drum is coupled to wiper motor which rotates the drum at
50 revolutions per minute.
• But due to its large size it could not fit
on to the normal size glass , windows.

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• Soichiro KAWASAKI and Koki KIKUCHI [2014] from The Department of
Advanced Robotics, Chiba Institute of Technology published their paper on
Development of a Small Legged Wall Climbing Robot with Passive Suction
Cups.
• Their robot was driven by single degree-of-freedom linkage legs based on the
scale effect.
• The attachment and detachment mechanism made the robot small and also
simplifies the control.

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• Deepak Sachan ,Avinash Patil from BHEL , HYDERABAD [2016] published
their paper on Design of Electrostatic Adhesion Pads for Wall Climbing Robots.
• They tried to develop a robot that could climb any vertical surface such as glass
, wall, plastic etc.
• For this purpose they designed an electrostatic adhesive pad and fabricated to
gauge the possibility of the electrostatic adhesion technology to be applied on
the vertical climbing robots.

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• Nazim Mir-Nasiri, Hudyjaya Siswoyo J . and Md. Hazrat Ali [2018] from
School of Engineering, Nazarbayev University, Astana,Kazakhstan & School of
Engineering, Swinburne University, Sarawak Malaysia published their paper on
Portable Autonomous Window Cleaning Robot .
• They want to develpop this robot for cleaning houses and ofices.
• Their robot worked on pre defined pattern and sensory system was used to
navigate the robot .
• They tried to make the robot lightweight and cost effective.

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 METHODOLOGY
START

LITERATURE REVIEW

SELECTION OF MATERIAL

DESIGN OF PROTOTYPE USING ANSYS

MARKET SURVEY

COMPARISON OF THE PRICE OF MATERIALS

ASSEMBLY OF PROTOTYPE

TEST RUN
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END
DESIGNING PROCEDURE
DESIGNING INDIVIDUAL PARTS IN ANSYS

ASSEMBLING THE INDIVIDUAL PARTS

SELECTING THE MATERIALS

FINAL ASSEMBLY OF THE PROTOTYPE WITH

ALL ELECTRICAL AND MECHANICAL
COMPONENTS

TEST RUN OF THE PROTOTYPE

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 DESIGN PROCESS
Software design : Using CATIA software we have created a layout .

Hardware Design :
• The pneumatic cylinder would be fixed through welding.
• At center the rod would be fixed through the base using welding.
• At the end , the rods would be fixed through the suction cups using threading and nuts
and bolts.

• Drilling process will be used to makes holes and adjust the rod in it.
We are not starting our research from scratch , we have studied previous work done by
other researchers and try to find their limitations and put our innovative ideas in it.
sn AUTHOR FINDING OUR WORK
1 Soichiro kawasaki The robot had six leg , this Simplifying motion using
, Koki kikuchi makes motion complicated. X-Y axis using pneumatic
cylinder.
2 ] W. Wang, G. Zong Their robot was supported by Simplifying robot moving
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a complicated mechanism. mechanism.

 DESIGN PROCESS

Sn AUTHOR FINDING OUR WORK

3 Nazim Mir-Nasiri , various electrical Simple electrical

Hudyjaya siswoyo equipment's used, equipment's using Adruino
jo , md hazrat ali therefore complications Microcontroller.
occurs.

4 Vinod kumar M V, Their robot design was We have reduced the size
Prem kumar naik, too big and it covered a thus proper cleaning will be
Prasad B G, Syed large surface area. possible.
Razeequlla

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 DESIGN PROCESS

sn
1
AUTHOR FINDING OUR WORK
5 Tohru Miyake, The robot has was we are using Bluetooth to
Hidenori Ishihara, and controlled using wire. control the motion of the
Tatsuya Tomin robot.

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 PROPOSED TOOLS
Pneumatic cylinder : It is mechanical device that use the power of
compressed gas to produce a force in a resiprocating linear motion.
Stainless Steel Rod
Stainless Steel rod is used for the movement/slide of the equipment from top to
bottom and bottom to top. The basic idea for choosing stainless steel is because
they are -
• strong rust-resistant
• Corrosion-resistant
• Sturdy
• Durable
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• Higher life
Adrino Microcontroller
Microcontroller is used to operate the movement of the stepper motor.
Basically the micro controller will process and hence result in functioning
of the Motor. The Micro controller is small size and inexpensive so we
have decided to include the microcontroller in the parts of glass cleaning
robot.
Bluetooth
The movement of the equipment is wireless so we have planned to use
mobile phone/smart phone Bluetooth and application so that we can easily
control the equipment via application easily.
Connector
The Connector is used for connecting the shaft and the stepper as it is the
main function of the performing the function of the glass cleaning robot.
There are 3-D printed parts (Design based parts are printed)
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 Comparison from existing system

• Existing glass cleaning robots cost about 25 thousands to 35

thousands rupees but this our robot will cost only about 15 to
20 thousand.
• Existing glass cleaning robot weighs about 15 -18 kg but
our weighs just 7 to 12 kgs.
• Existing glass cleaning robot covers large area, our robot is
compact in size and cleans the surface thoroughly.

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Identify And Acquire Information
Needed For Design

• Safe and reliable attachment to the glass surface: The climbing robot should be
sucked to the glass wall safely and overcome its gravity. That is the first difference
between a glass wall cleaning robot and an ordinary walking robot on the ground.
• Movement spreading over all the working areas: The robots should have a
function to move in both the up-down direction as well as the right-left direction to
get to every point on the glass.
• Working autonomously with the corresponding effective treatment: Once the
global task commands are entered by the user, the robot should keep itself attached
to and move on the glass while accomplishing the cleaning tasks
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• Motion control function: To meet the requirements of all kinds of movement
functions, especially in crossing window obstacles, precise motion control is
needed. The precise position control of the movement will begin immediately
and automatically as soon as obstacles are detected on the surface
• Efficient cleaning: Efficient cleaning is the ultimate objective of
cleaning robots. All functions above should serve this key point.

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Our progress

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 OUTCOMES

• The designed robot will be light weight.

• It will be cheap.
• It will be easy to operate.
• Human error will be reduced.
• Human life would be saved.

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 BENEFITS TO THE SOCIETY

• The Glass Cleaning Robot will make life more easier . As we

have seen in our own campus that the worker’s are making
their life in danger while cleaning the glasses in the corridor.

• It can be used in places where hands gets barely chance to

reach so cleaning robot would solve their problem.

• The robot will decrease the danger of the life of the worker
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and it would save lot of man power as well.
 REFERENCES
1. ]W. Wang, G. Zong, “Controlling and Sensing Strategy for Window Cleaning
Robot”, Hydraulics & Pneumatics, No.1, pp.4-7, 2004.
2. Ritesh G. Mahajan, Prof. S. M. Patil, “Development of Wall Climbing Robot”,
International Journal of Emerging Technology and Advanced Engineering,
volume 3 2013.

3. Soichiro Kawasaki, Koki Kikuchi The 3rd International Conference on design

engineering and science,ICDES 2014, “Development of small legged wall
climbing robot with passive suction cup” 2014 .
4. Deepak Sachan ,Avinash Patil, “Design of Electrostatic Adhesion Pads for Wall
Climbing Robots”, International Journal of Application or Innovation in
Engineering & Management (IJAIEM), Volume 5, Issue 4, April 2016.
5. Nazim Mir-Nasiri, Hudyjaya Siswoyo J and Md. Hazrat Ali . International
Conference on Robotics and Smart Manufacturing (RoSMa2018) , “Portable
Autonomous Window Cleaning Robot” . 28
 THANK YOU

Our Team Wants To Give Special Thanks To Our

Mentor who Supported
&
Guided Us In Our Project
“Dr. Swet Chandan”

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