Research on a new glass-curtain cleaning robot

This paper introduces a new glass-curtain wall-cleaning robot with multi-suction cups. And the main structure, cleaning system and control system has been researched. When the robot absorb to the wall surface, it can slide down along the surface by a windlass on the roof depending on its own gravity while cleaning. With the motion of four suction cups by turns, the robot can move in vertical direction successfully. The experiments demonstrated that the kind of robot could be put into practice because of the simple mechanism, robust control and good cleaning effect.