Cling is our robot which can walk and get attached to a surface with large holding force. It is based on symmetric parallel kinematics which provides high stiffness, high accuracy, and capability to handle large load. Hence, the robot is capable to perform construction tasks with large loads at high accuracy.

Its capability to walk and cling on the structural surfaces such as concrete and wall provides no limit in the height the robot can reach as well as ease in performing some overhead tasks. The attachment of the robot to the structural surfaces is based on vacuum suction with large holding force.

Benefits of the robot

Cling offers the following benefits:

  • No scaffolding required. Repainting of buildings will no more need scaffolding.
  • Can reach high height. This is because the robot can climb as high as the roof.
  • Can jump over protrusion. This is because the robot is climbing by walking/stepping.
  • Portable in various sizes. It is available in three variants: large size, medium size, and small size.
  • Can work in confined space, due to the considerably small size of the robot.
  • Can work in windy and rainy conditions.
  • Multi-function. Due to its modular design, cleaning and painting can be performed by using the same core robot. Various tasks can also be performed by adding a spindle head with changeable tool.
  • Can withstand high load, due to its parallel kinematics. Hence, it can perform deep cleaning.
  • Programmable. Besides it can be remotely controlled, it can also be programmed.
  • Affordable.

Deployment Schematic

The Cling robot will be climbing over the exterior of a building by tele-operation (remote control) or programming while the power and the cleaning/painting fluids can be supplied from the roof. To ensure the safety, auto-lock safety rope is added to a deployed system.

The schematic of a deployed Cling robot system without and with roof rail is shown below.