Design of a Five DOF Contactless Robot for Facade Inspection

Service tasks on vertical surfaces such as building facades continue to be performed manually by specialized technicians operating from complex scaffolding. This way of performing these tasks, in addition to being inefficient, is costly and dangerous for personnel who must work under the risk of falls. The façade inspection task, as well as façade cleaning task, can be achieved by following zig-zag motions to cover the whole working surface while keeping the tool perpendicular to the façade surface. The aim of this work is to develop a roboticRobotics inspection device of 5 degrees of freedom based on a Cartesian configuration with three translations and a pan-tilt type system with two rotations. The roboticRobotics device will be placed in front of the façade of a building, which can be previously characterized by a cloud of points. The kinematicsKinematics of the robots is also presented as well as the mechanical elements to build a scalable prototype that can be sized according to the building dimensions.