Implementation
February
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Originally wanted to use omnidirectional wheels in a trigonal pattern.
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Decided to scrap this idea due to the lack of traction provided by wheels, it would be difficult to cross barrier and get enough thrust to move robot on window
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In order to reduce weight and thrust needed we went with a design that required only two wheels
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Third point of contact would be the cleaning on both sides of the board
March
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In order to create a simpler design, the wheels were placed in the back with another point of contact being the front cleaning system
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Since the system was completely redesigned, focus was put on creating the chassis, building the cleaning system and created a CAD model of the fans
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Fans were created with a 30 degree tilt
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Microcontroller, motors for the wheels, and the fans were integrated
April
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A second cleaning system was added in order to to create a third point of contact so that system could effectively cross the barrier.
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We decided that we could potentially use an actuator to lift the cleaning system so that it could easily cross the barrier
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Path planning changed from lawn mower to a simple to an up and down path therefore two cleaning systems are needed again to thoroughly clean window
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We were able to fully integrate the fans, motors, and microcontroller, but there were many bugs that prevented PID from fully being able to prevent wheel slippage while the fans were ramping
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A new cleaning solution was made with green solution, isopropanol, and water. While it was able to effectively clean the window, it left a slippery residue on the robot.
May
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Path planning changed from lawn mower to a simple to an up and down path therefore two cleaning systems are needed to thoroughly clean window, we were now able to integrate this system on the window
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We were able to fully integrate an actuator on the clean system that allowed effective barrier crossing
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PID control was integrated and allowed for little slippage while the fans were rapping on the window
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The cleaning solution allowed for full cleaning of the window and left little to no residue
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Path path was allowed for the robot to turn when it reached the barrier in order to move back up the window.