WALL CLIMBING CLEANER ROBOT

This project report is on a wall climbing cleaning robot is designed to cater the demand of high rise building maintenance where human involvement is dangerous. For climbing, a wall a robot must need a mean to cling on a vertical surface. Propeller thrust force is considered for designing the robot that can stuck on a vertical surface for this project. The thrust force must be sufficient enough to hold the whole body of the robot on a vertical surface. A brushless DC motor is selected to produce the required RPM to rotate the propeller for the thrust force. For the movement on the surface of the wall, the robot uses four rubber wheels which are connected to four gear motors that can move at any direction while subjected to the propeller thrust force. These gear motors are able to generate enough torque to move the robot on the wall. A suitable Li-Po battery is used as a power supply for the whole robot. Since it is a remote control robot a very precise coding is done to control all the motors through a motor driver and an Arduino Nano. The chassis of the robot plays a very important role. It will be subjected to deformation and the chassis will also have to be light weight. Aluminum polymer Composite Material is used to meet all the requirements. A custom cleaning mechanism is designed to serve the cleaning purpose. A set of springs are integrated into this mechanism in such way that it will engage on operator’s command. This mechanism is designed such in a way that it does a negligible interference to the thrust force and its components. The cleaning mechanism is driven by a servo motor. The wheels are set in such a way that the outer periphery of the front wheels will be a slightly outside of the chassis so that it can climb on a vertical surface without any external assistance.