Calculation of optimal magnetic force for automatic control magnetic force of the window cleaning robot

This paper describes the window cleaning robot named Smart Windoro, which is a fully autonomous intelligent window cleaning robot. Smart Windoro adheres to the surface of window glass by means of permanent magnet pairs between a driving module (inner unit) and a cleaning module (outer units) rather than using vacuum suckers for the energy efficiency and safety. A driving module of Smart Windoro has automatic magnetic force control mechanism. In addition to this, the driving module has mechanism for automatic magnetic force according to the thickness of window glass. This study describes the simulation to predict the magnetic and mechanical characteristic which is maximize the friction on the surface of window with the minimum magnetic attractive force.