Force Analysis and Simulation of Glass Cleaning Robot

In order to research the conditions that the robot needs to meet the anti-sliding and anti-overturning when working on the wall, the force model of the vacuum adsorption and frame-type mobile glass curtain wall cleaning robot was established by analyzing the working principle. The results showed that when the friction coeffi-cient is constant, the minimum suction force of the suckers is proportional to the robot's own weight and the distance from the center of gravity to the working wall, and inversely proportional to the frame span. The results of robot equivalent stress and displacement simulation analysis were consistent with the theoretical analysis.