Gecko, a climbing robot for walls cleaning

In the paper a digital mock-up of Gecko, a robot for cleaning vertical surfaces and ceilings, is presented. The sticking is guaranteed by suction cups which provide also a two directions mobility. An innovative suspension is used for both, assuring modulated pressure in the cups and their pressing/withdrawal relative to the wall. The cleaning is ecologically and effectively accomplished through steam spraying, which after condensation is back collected. Simulation checks and tests in a virtual reality environment proved out the correct behaviour of the robot, while coping usual operative conditions. After a brief outline of the cleaning robots already available on the market, details about the architecture and the components of Gecko, are commented, with suggestion to the foreseen, out of the cleaning, applications.

Autores: F. Cepolina, R.C. Michelini, R.P. Razzoli, M. Zoppi
PMAR Lab - Dept. of Mechanics and Machine Design
University of Genova, Italy

http://www.dimec.unige.it/pmar/pages/download/papers/zoppi11.pdf