Design and manufacture of a pneumatic glass climbing robot for cleaning of high-rise buildings

In this paper a pneumatic autonomous glass climbing robot has been used. The idea was to design and manufacture a small size and light weight glass climbing robot for cleaning purposes. The design consists of four active (scanning) type suction modules, two servo motors, two free wheels, a cleaning mechanism, and a programmable onboard microcontroller. Each of the suction modules includes a vacuum generator and a chamber mounted on the supporting frame for adhering to the surface. The innovation of the proposed project is in using a scanning type suction module which is based on aerodynamics principles to provide adhering force for the attachment to the glass surface.