中文摘要：

提出了一种新颖的平面玻璃幕墙清洗机器人结构设计原则，据此设计了2个自身无行走机构并依靠壁面牵引移动的清洗机器人系统．机器人吸附在壁面上，在楼顶卷扬机的牵引作用下依靠自身重力沿壁面下滑，同时完成清洗作业，并通过双负压吸盘的交替吸附跨越突起的水平窗框障碍．为提高机器人的工作能力，进行了作业安全分析，井研究了吸盘吸附力的调整控制方法．现场试验表明机器人能有效完成幕墙清洗任务，具有机构简单、效率高、成本低、清洗效果好的特点．

英文摘要：

A set of novel structure design principles of flat glass-curtain wall-cleaning robot were proposed and two tethered wall sliding cleaning robots without locomotion mechanism were designed. When the robots adhere to the wall, it can slide down along the wall towed by a windlass on the roof depending on its own gravity force. At the same time, it can finish cleaning tasks and even cross horizontal window frames using alternate adhering method of dual suction cups. To improve the service abilities of the robots, the safety analysis were given and the control mode of the suction force was studied. The field experiments demonstrate that the robots can finish cleaning tasks effectively on the wall and its outstanding characteris tics are simple mechanism, high working efficiency, low cost and good cleaning performance.