1、 - 1 - 2050 单词， 10500 英文字符， 3650 汉字 出处： Miyake T, Ishihara H, Shoji R, et al. Development of small-size window cleaning robot by wall climbing mechanismJ. Isarc Proceedings, 2006. SMALL-SIZE WINDOW CLEANING ROBOT BY WALL CLIMBING MECHANISM 1. INTRODUCTION Recently, there have been many demands for a
2、utomatic cleaning system on outside surface of buildings such as window glass by increasing of modern architectures. Some customized window cleaning machines have already been installed into the practical use in the field of building maintenance. However, almost of them are mounted on the building f
3、rom the beginning and they needs very expensive costs. Therefore, requirements for small, lightweight and portable window cleaning robot are also growing in the field of building maintenance. As the results of surveying the requirements for the window cleaning robot, the following points are necessa
4、ry for providing the window cleaning robot for practical use: 1) It should be small size and lightweight for portability. 2) Clean the corner of window because fouling is left there often. 3) Sweep the windowpane continuously to prevent from making striped pattern on a windowpane 4) Automatic operat
5、ion during moving on the window. The locomotion mechanism must be chosen to satisfy these demands, especially later two subjects. Here locomotion mechanism means the combination of adhering mechanism, traveling mechanism and a mechanism for changing a traveling direction. First requirement brought t
6、he following specifications for designing the window cleaning robot. Weight: less than 5kg, including the weight of battery and washing water, Size: 300mm x 300mm x 100mm. These were also defined by the results of surveying the demands from the cleaning companies. In previous researches, we have proposed outline of mechanical system for window cleaning robot for filling above mentioned demands. And we confirmed basic properties and its possibility by the experiments. That mecha
