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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 57756 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Durali, Mohammad
- Abstract:
- Painting the facades of buildings for cleanliness or painting on walls for urban beautification is a common thing. traditionally. This process is done by workers and scaffolding, which is dangerous for the health and safety of the workforce and timeconsuming and costly due to the erection of scaffolding and the need for manpower. Doing this work by robots can be a faster and safer alternative. The aim of this project was to design and prototype a cable robot for painting and printing images in large dimensions for buildings. For this purpose, the existing dynamic models and the robot components were modeled. features such as cable tension and bending, and the workspace and robot control method were evaluated for minimal deviation of the paint actuator. Then, by kinematic and dynamic analysis and robot simulation, an appropriate design was made, and by examining the simulation performance, small-scale prototyping was carried out. The ultimate goal is to have a robotic system that can draw images and writings with precision and clarity on a vertical wall. This required a correct understanding of the final actuator's movement (printer head) and its coordination with the cable movement control system to obtain the clearest image. In the first stage, this robot was designed to draw monochrome or multi-color images without color interference (limited color palette). A prototype was built, and the error of the robot built with a scale of 1:10 was 5 mm. In future projects, an attempt will be made to add the ability to combine colors to have a full color palette
- Keywords:
- Cable Robot ; Design and Prototyping ; Wall Printer ; Cable Dynamics ; Printing Robot
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