A Project

Report on

SKYSCRAPER’S
GLASS CLEANING AUTOMATED
ROBOT
By
Mr. Ankur Rai
Mr. Chandan Kumar
Mr. Raj Kumar
Guide:
Prof. S. F. Rathod

Department of Mechanical Engineering

D.Y. PATIL COLLEGE OF ENGINEERING
AMBI, PUNE-410506
[2016-2017]
D.Y. PATIL COLLEGE OF ENGINEERING
AMBI, PUNE-410506

CERTIFICATE

This is to certify that Mr. Abhishek Jaiswal, Mr. Ankur Rai, Mr. Chandan
Kumar and Mr. Raj Kumar has successfully completed the Project Stage― I
entitled “Skyscraper’s Glass Cleaning Automated Robot” under my
supervision, in the partial fulfillment of Bachelor of Engineering - Mechanical
Engineering of University of Pune.

Date:
Place:

Guide‘s Name ___________________ Internal Examiner __________________

Guide

Head of Department _______________ Principal _________________________

Mechanical, D.Y.P.C.O.E D.Y.P.C.O.E

Seal
 ACKNOWLEDGEMENTS

I am profoundly grateful to Prof. DIGVIJAY KOLEKAR for his expert guidance and
continuous encouragement throughout to see that this project rights its target since its
commencement to its completion.

I would like to express deepest appreciation towards Dr. S. D. SHIRBAHADURKAR,

Principal, D.Y. PATIL COLLEGE OF ENGINEERING, Prof. B. S. RATHOD, Head
of Mechanical Engineering Department and Prof. VINAYAK SHINDE, Project
Coordinator whose invaluable guidance supported us in completing this project.

At last, we must express our sincere heartfelt gratitude to all the staff members of
Mechanical Engineering Department who helped me directly or indirectly during this
course of work.

Abhishek Jaiswal
Ankur Rai
Chandan Kumar
Raj Kumar
 ABSTRACT

The objective of this report is to develop the small-size and light weight window cleaning
robot. The prototype of window cleaning robot has been developed. The dimensions of
prototyped robot are approximately 300mm x 300mm x 100mm and its weight is
approximately 3 kg. The 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. This report includes background and objectives
of this project, prototyped mechanical systems, moving control system, experimental result
of basic traveling control and window wiping motion by comparing to with or without of
motioned control system, some discussions in each experiment and a conclusion
 LIST OF FIGURES

Figure No. Description Page No.

1. Rendering of window cleaning 2

Block Diagram Window Cleaning

2. 4
Automated Robot

3. Body Design 10

4. Motion Path 13

5. Free Body Diagram 16

Center of Gravity And Axis of

6. 17
vacuum cup

7. Suction Cup 19

8. Power Supply Flow Chart 20

9. Voltage Regulator 20

10. D.C Servo Motor 21

 CONTENTS

Chapter Page No.

Chapter 1.

Introduction 01 to 07

1.1. Problem Statements

1.2. Project Objectives
1.3. Project Scopes
1.4. Project Methodology
1.5. Significance of Study

Chapter 2. 08 to 09

Literature Review

Chapter 3.

System Design 10 to 15

3.1. Mechanical Design

3.2. Robot Mechanism
3.3. Structure Of The Cleaning Robot
3.4. Motion Planning

3.5. Orientation Adjustment of the Robot

3.6. Locomotion Mechanism and robot body

3.7. Electronic Designs

Chapter 4. 16 to18

Calculation
Chapter 5. 19 to 21

Specification Of Component Used In Cleaning Robot Used

5.1. Suction Cups

5.2. Types of Power Supply
5.3. Voltage regulator
5.4. Microcontroller 89V51RD2
5.5. D.C Motor

Chapter 6.

Future scope 22

Chapter 7. 23

Conclusion

References 24 to 25