Cable driven robot for cleaning facades

This paper presents the development of a cable driven robot for cleaning facades. The system is made up of a basket with a retractable roller, a water spray system and a drainer. The basket is suspended by means of two motorized cranes that allow the basket to be positioned in any location on a facade. The system is programmed on three Esp32 controllers that communicate wirelessly using the ESPNOW protocol. The handling is done by means of a remote control that allows the movement and actuation of the basket manually and program trajectories by means of Gcode commands.