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In these days, there are a large number of high-rise buildings constructed with facades (curtain-Pwalls). These facades must be maintained with manual procedures regularly, and each of the periodic procedure is very expensive and risky. For this reason, the interest in developing and employing service robots for the building maintenance has been increased. In this paper, deals with developing a Building Wall Maintenance Robot (BWMR) system based on a guide rail built in curtain-wall. With this BWMR system, we applied an actuator-excited vibration experimental system and a computer simulation to judge the safeness of Robot system. A method using a shaking system as the shaker is proposed so that the experiment can be applied to a secondary structural system attached to a primary structural system. Results of this experiment can be index of reliability for BWMR designing and manufacturing.