Development of Roller-Based Interior Wall Painting Robot
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.
[1] 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
[2] B. Kahane, Y. Rosenfeld: "Balancing human-and-robot integration in
building task," Computer-Aided Civil and Infrastructure Engineering,
vol.19, pp. 393-410, 2004.
[3] 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.
[4] 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.
[5] 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.
[6] 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),
[7] M. W. Spong, S. Hutchinson, M. Vidyasagar: Robot Modeling And
Control. John Wiley & Sons Publishing Inc., 2006, pp. 22-24 and pp.
259-262.
[8] B. Siciliano, L. Sciavicco, L. Villano, G. Oriolo: "Robotics Modeling,
Planning and Control," Springer.Publishing Inc.,2010,pp165-168.
[1] 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
[2] B. Kahane, Y. Rosenfeld: "Balancing human-and-robot integration in
building task," Computer-Aided Civil and Infrastructure Engineering,
vol.19, pp. 393-410, 2004.
[3] 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.
[4] 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.
[5] 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.
[6] 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),
[7] M. W. Spong, S. Hutchinson, M. Vidyasagar: Robot Modeling And
Control. John Wiley & Sons Publishing Inc., 2006, pp. 22-24 and pp.
259-262.
[8] B. Siciliano, L. Sciavicco, L. Villano, G. Oriolo: "Robotics Modeling,
Planning and Control," Springer.Publishing Inc.,2010,pp165-168.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:55821", author = "Mohamed T. Sorour and Mohamed A. Abdellatif and Ahmed A. Ramadan and Ahmed A. Abo-Ismail", title = "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.", keywords = "Automated roller painting, Construction robots,Mobile robots, service robots, two link planar manipulator", volume = "5", number = "11", pages = "2322-8", }