Abstract

Recently various robots have been designed for wall cleaning and maintenance. There are three kinds of kinematics for the motion on smooth vertical surfaces: multiple legs, a sliding frame and a wheeled and chain-track vehicle. Four different principles of adhesion which are vacuum suckers, negative pressure, propellers and grasping are also used by climbing robots. Since 1996 the group at the Robotics Institute of BeiHang University has developed a series of autonomous climbing robots with sliding frames for glass-wall cleaning. In this paper, the individual robots’ mechanical constructions and unique aspects are introduced in detail.

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