This paper proposes a glass-wall climbing robot that is intended for cleaning curtain glass wall. It is based on passive suction cups mechanism. The main advantages of the proposed robot are relatively small thickness (which can allow greater payload with a given set of suction cups), easy attachment and detachment, and lower energy consumption. The proposed robot consists of a newly designed guiding rail and eight suction cup systems. The guiding rail has small thickness that results in a portable and compact design. The payload is up to 2 kg. Because the passive suction cups do not need energy input to attach to the glass wall, the proposed robot consumes relatively low energy. A prototype of the robot has been fabricated for evaluation.
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