Commenced in January 2007
Paper Count: 30578
Development of Roller-Based Interior Wall Painting Robot
Abstract:This paper describes the development of an autonomous robot for painting the interior walls of buildings. The robot consists of a painting arm with an end effector roller that scans the walls vertically and a mobile platform to give horizontal feed to paint the whole area of the wall. The painting arm has a planar twolink mechanism with two joints. Joints are driven from a stepping motor through a ball screw-nut mechanism. Four ultrasonic sensors are attached to the mobile platform and used to maintain a certain distance from the facing wall and to avoid collision with side walls. When settled on adjusted distance from the wall, the controller starts the painting process autonomously. Simplicity, relatively low weight and short painting time were considered in our design. Different modules constituting the robot have been separately tested then integrated. Experiments have shown successfulness of the robot in its intended tasks.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1332512Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 6453
 A. Warszawsky, Y. Rosenfeld: "Robot for interior finishing works in building: feasibility analysis," ASCE Journal of Construction Engineering and Management, vol.120 (1), pp. 132-151,1994
 B. Kahane, Y. Rosenfeld: "Balancing human-and-robot integration in building task," Computer-Aided Civil and Infrastructure Engineering, vol.19, pp. 393-410, 2004.
 B. Naticchia, A. Giretti, A. Carbonari "Set up of an automated multi- color system for interior wall painting,"International Journal of Advanced Robotic systems, vol. 4,No. 4 , pp. 407-416, 2007.
 M. De Grassi, B. Naticchia, A. Giretti & A,Carbonari. "Development of an automatic four color spraying device carried by a robot,"24th ISARC, December 17-19, Sendai, Japan, 2007.
 B. Naticchia, A. Giretti, A. Carbonari: "Set up of a robotized system for interior wall painting," Proceedings of the 23rd ISARC, October 3-5, Tokyo, Japan, 2006.
 I. Aris, A. K. Parvez Iqbal, A. R. Ramli & S. Shamsuddin."Design and development of a programmable painting robot for houses and buildings.," Jurnal Teknologi,Universiti Teknologi Malaysia,vol. 42(A),vol. 42(A),
 M. W. Spong, S. Hutchinson, M. Vidyasagar: Robot Modeling And Control. John Wiley & Sons Publishing Inc., 2006, pp. 22-24 and pp. 259-262.
 B. Siciliano, L. Sciavicco, L. Villano, G. Oriolo: "Robotics Modeling, Planning and Control," Springer.Publishing Inc.,2010,pp165-168.