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.

• 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。