A Small Window-Cleaning Robot for Domestic Use

This paper describes a mini window-cleaning robot (WCR) that was specially designed for utilizing in domestic environment. WCR climbs on the surface of window glass by means of four suction cups, and wipes the surface simultaneously with a rotational wiper. WCR is characterized as lightweight and mini-size. In the robot, two beams are set close to the rear and the forward of the main body. The suction cups are positioned at both sides of each beam. These cups function as legs for locomotion. Two pairs of cups in diagonal position suck alternately on the surface of window when the robot moves. The basic characteristics and results of gauge pressure in suction cups are presented. In addition, the position of gravitational center of the robot coincides with the midpoint of the sucking cups. After successful moving on the vertical window glass without dropping, cleaning function was checked by the artificial stain.