CHAPTER 1

1.INTRODUCTION
Cleaning a residential window in one’s home is much easier said than done. First of all, most
windows are too tall to be reached from outside the house, and a person would need to stick their
arm out from inside to clean it. Trying to clean the outer surface of a window from the inside
involves an awkward motion because a person would have to reach around the bottom or top and
therefore can only clean parts of the window within their reach. It can also be a very messy
endeavor with cleaning fluids inevitably dripping onto both the person’s arm and the floor inside.
On top of all this, the handicapped community has an even tougher time cleaning windows due
to their limited mobility and restricted range of motion. Taking all of these factors into account
would lead one to believe that a machine, which would clean the outside of the window for you
automatically or by remote control, would be a profitable product.

The American Society of Mechanical Engineers (ASME) has decided to hold a competition to
determine the best method for creating an automatic window washing robot. The competition
will test various prototypes of machines that automatically clean the outside of a residential
window with little to no effort from the user. It will involve teams from different universities
across the region, and will be taking place in April 2008. The University of Michigan chapter
of ASME has decided to sponsor a team consisting of four volunteer members to participate in
the competition.

The test will be to run the prototype on a window, on which there will be 25 “dry-erase” dots
which it must clean within the specified time limit. The competition has many requirements and
limitations, including strict time and size limitations, as well as an extremely strict weight limit
(less than 1 kg). In addition, there is a bonus for a completely automated machine with no
remote, and points will be deducted for touching the machine or any fluid leaks that may occur.
When a schedule for the design process was developed, the team decided that within this class
(ME

a) ending in December, and with the competition not until April, some of the requirements
for the competition could be relaxed when creating the prototype for this project. The two
biggest things were deciding to have the design be remote controlled (since we have time to
create an automation system after the class ends), as well as relaxing the weight limit,
focusing now on keeping our design under 5 kg.

In summation, it is the goal of this team to create a machine that will allow a person to clean the
outside of a residential, double hung window, using a remote control, that will weigh less than 5
kg and fit into a 300 mm x 600 mm x 800 mm box, in less than 5 minutes. A complete list of the
design specifications can be seen in further detail in Section 3 of this report.

1.1PROJECT MOTIVATION

The emergence of a robotic application will be the next hot field in this current new era (Gates,
2007). It shows by the emergence of many robotics products with autonomous concept for
example autonomous vacuum robot (Ulrich et. al., 1997), museum tours guide robot (Burgard
et. al., 1998) and etc. When dealing with hazardous job, it is better to replace human with robot
that can perform a task without continuous human guidance or autonomous robot (Bekey,
2005) to overcome human risks.

Office window cleaning is a hazardous job and it involves high cost. Cases reported to Health
and Safety Executive had shown that there had been between two to seven window cleaners
were killed each year in Great Britain and 20-30 suffer major injuries while doing cleaning jobs
(HSE, 2003). By using conventional method, human involvements are needed to the do all the
task. This shows the need for small, lightweight and portable window cleaning robot for office
window to replace human involvement in high risk activities.
.
1.2 PROJECT BACKGROUND

Nowadays, cleaning an office window by using conventional methods is

implemented widely. It is either via human involvement or by a machine. There are three
types of conventional methods to clean office window. First method is by using workers
suspended in the air. It can be done by using abseiling techniques or by gondola (Presto
Property Services, Inc., 2008). Second method is by ground cleaning. In the ground
cleaning, there are several ways that can be used. It can be done by reaching and
washing technique (MPW Window Cleaners, 2008), using mobile elevated working
platform (Salter Cleaning Services, 2008), using scaffold (Clear Magic Window
Cleaning, 2008) or using a ladder (I Do Windows Inc., 2008). The third method is by
using a customized window cleaning machines (SkyBot Ltd, 2006).

The advantage of conventional method by human is the job can be done for many
complex office or building structure. The disadvantages of conventional methods by
human can be described in four major points. First point is manual labour. Manual
labours for conventional method undeniably gamble with high risk and long time
consumption. The second point is limited efficiency. The process could be very slow as
it depends on human expertise to finish the job. The third disadvantage is budget
constraint. Using conventional method by human or by customized machine involves
high cost for its equipment and suppliers, labours cost, insurance (Giamberardino, 2001),
and by the machine itself. The last point is limiting factors. There are certain limiting
factors with job done by human. If the job is done by human, it depends on weather and
daylight factor. This project is hoped to overcome the limitation of conventional
methods. The project is focusing in developing a small cleaning robot for office window.
1.3PROJECT PROBLEM STATEMENT

Cleaning is routine in our life. It involves many activities in our daily life. It is a hard work job
and a lot of time is consumed. Window cleaning is also one aspect of office maintenance activity.
The clean windows will irrefutably provide a comfortable environment to the office inhabitants.
The two main points that are stressed in this project are to overcome the hazard (HSE, 2008) of
human involvement in cleaning office window activity and reduce high cost by the conventional
method of cleaning window. It becomes necessary to overcome the limitation. The project
intends to replace or minimize human involvement in cleaning the window by replacing it with a
small cleaning robot for office window with several capabilities. The abilities are; portable, small
size, lightweight, automatic operation and can clean all the corner of the office window.

1.4PROJECT OBJECTIVES

The project is conducted to achieve the following objectives:-

b) To design a small cleaning robot for office window which is portable, small size,
lightweight, automatic operation and can clean all the corners of the office
window.

c) To write the software program of the cleaning robot.

d) To build the electrical part of the cleaning robot.

e) To build the mechanical part of the cleaning robot.

f) To assembly and testing the cleaning robot that can be operated on the office
glass window.
 4

1.5 PROJECT SCOPES

The scope of this project covers several issues listed as below:-

i. The developed small cleaning robot is only a prototype and not readily functioning
as commercial product.

ii. The developed small cleaning robot can only operate without any other disturbance
such as natural disaster like rain, storm and earth quake or by other disturbance
while operating.

iii. The developed small cleaning robot is operated using battery.

iv. The developed small cleaning robot is operated on the window with no obstacles.

v. The developed small cleaning robot is limited under each rectangular windowpane.

vi. The developed small cleaning robot is independent with operating time constraint.

vii. The operating time of the small cleaning robot is limited which depends on the
battery lifetime.
 1.6 PROJECT REPORT ORGANIZATION

This project report consists of 5 major chapters. The descriptions of each chapter are stated
below:-

a) Chapter 2 presents small cleaning robot from background knowledge as well as

literature review perspectives. First the current or conventional way of cleaning
window is presented. Previous researches on window cleaning robot also are then
discussed. Finally, the mechanisms for window cleaning robot are presented.

b) Chapter 3 is focused on design and methodology. Development of the proposed

method of small cleaning robot is presented. The system design is shown with
explanation on why the design is made. Finally, all elements of the proposed design
are built and assembled.

c) Chapter 4 is focused on results and discussions. The developed small cleaning robot
is tested and discuss. Results of the discussion are presented.

d) Chapter 5 covers the project conclusion and the recommendations for future
research.

CUSTOMER REQUIREMENTS & ENGINEERING SPECIFICATIONS

Because of the unique format of our project, the ASME Student Design Competition’s regulations
and guidelines were translated into a format fitting of customer requirements. These requirements
are regarded as the interests of a hypothetical customer that would adapt our device for consumer
use. Table 3.1 lists the customer specifications (in order of relevance) and the competition rules that
they are derived from. The order of relevance is derived from the ASME scoring criteria. A
complete list of competition regulations as well as scoring criteria can be found at the following
URL:
 TABLE : Customer specifications

Customer Requirements Corresponding ASME Requirements

Lightweight #14) 1 kg weight limit
Portable #13) Can be packed in 600 mm x 800 mm x 300 mm box
Battery Powered #9) Must be battery powered, 24 Vdc max, rechargeable
Safety Mechanisms #4) Must have safety cord
#10) Must come with “safe mode” (low battery mode)
Stays within Window #1) May only touch within 25mm of any part of clear
window
Cleaning Fluid Allocation #6) Must carry 50 mL H2O without leaking
Efficient/Clean Window #5) Must clean dry-erase ink to simulate dirt
#12) Must complete all processes in 5 min
Automated #2)If autonomous, cannot be preprogrammed to clean only
1 size of window
#3)If under remote operation: (a) must control through
umbilical cord, (b) cord must connect by 9 or 15 pin
sub-D connector, (c) cord cannot be more than 2mm in
its thinnest, (d) cord must withstand repeated clamping
between window
 Scoring bonus also awarded for automated cleaning
Shutdown Process #11) Must turn off all cleaning operations and go to lower-
left corner and signal when it is finished
Mobility #7) Must not leave any uncleanable portions of window
#8)Scoring bonus for traversing window panes
No Risk of Damage #15) May not damage window or frame
Handicap Friendly* N/A
Low Cost* N/A
* Indicates a non-competition specification inferred from the ASME Design Competition problem
description

From the above table, we are now able to define the engineering specifications for our design.
Table 3.2 provides a summary of the engineering specifications and their relation to the customer

Page 8
 requirements. You may note that in some instances, multiple engineering specifications have
been classified under a single customer requirement. This has been done to reflect the ASME
Design Competition requirements.

TABLE : Engineering specifications

Customer Requirements Engineering Specifications

Lightweight
Portable
Battery Powered
Safety Mechanisms
Stays within Window
Cleaning Fluid Allocation
Efficient
Automated
Shutdown Process
Mobility
No Risk of Damage
Handicap Friendly
Low Cost
Description Value/Attribute
Operational mass ≤ 5 kg
Dimensions ≤ 600 mm x 800 mm x 300 mm
Power source 24 Vdc max, rechargeable
(I) Safety cord
(II) “Low power” mode
Operating boundary ≤ 25 mm of glass
H2O allocation 50 mL
Operating time ≤ 5 min
Remove all dots 25 dry-erase dots
Choice: automated/remote
(I) Ends in lower-left corner
(II) End signal
(I) Traverse both panes
(II) No “blind spots”
No damage Window & frame receive no
permanent damage/marks
Handicap Ergonomics
(I) Low Cost
(II) Reliability

By combining both the customer requirements and engineering specifications we can then
determine the relative importance of each aspect of our design through the use of the QFD
model. Figure 3.1 below summarizes our QFD results. The weights of the customer requirements
are given in accordance to the scoring criteria provided by ASME’s Design Competition rules.
The highest weights (value of “10”) are awarded to the requirements that were immediately
disqualifiable upon entry in the competition. Weights of “9” are awarded to requirements that are
disqualifiable but only after repeated failure to meet that criterion. All other weights are based
purely on a hierarchy of the competition’s point values. A “1, 3, 9” scale is used to quantify the
relation between the customer requirements and engineering specifications
 CHAPTER 2

LITERATURE REVIEW

2.1INTRODUCTION
This chapter will explain about the conventional method of cleaning office window. This
chapter also contains about previous research on window cleaning robot. In the end of this
chapter, it discusses about mechanism for window cleaning robot.

2.2. CONVENTIONAL METHODS OF CLEANING OFFICE WINDOW

Conventional methods of cleaning for office window can be described in three techniques
or methods. The methods are by using workers suspended in the air, from ground cleaning and by
customized window cleaning robot. All these methods need to qualify with the regulation that
had been made by Occupational Safety and Health Regulation, OSHA and Health and Safety
Executive Regulation, HSE.
 Table 2.1: Conventional window cleaning method

Method Techniques Limitations

Workers suspended in the • Abseiling • Low area coverage

air • High time consumption
• Need skilled workers

• Gondola • Need skilled workers to

operated the gondola

From the ground • Reach and wash • Limited to certain height

techniques
• Work • High time consumption
platforms
• Limited to certain height
• Need extra equipment

• Scaffold • Need extra time for preparation

• Ladder • Limited to high of the ladder

Customized window • Skybot • Need to satisfy building

• SIRIUSc
cleaning machine requirement
• etc.
• High cost

2.2.1 Using Workers Suspended in the Air

These methods are used for tall building. There are two cleaning techniques. It is
by abseiling or using gondola. Abseiling can be described as technique of descending
through the use of a fixed rope (ABC of Rock Climbing, 2008). Gondola or using
platform can be described as the stage or platforms that use to carry humans with their
equipment by rope supporting.
8

Figure 2.1: Cleaning method using abseiling technique

Figure 2.2: Cleaning method using gondola

2.2.2Cleaning from the Ground

Cleaning from the ground is another method to do the cleaning. But this method is limited to
certain height only. There are several techniques that can be used to do the cleaning job. First is
by reach and wash technique. This technique is using a window washer with long extension. This
method significantly reduces the risk of an accident to the window cleaner.

Figure 2.3: Cleaning method from the ground

Second method is by using work platforms. The work platform can be divided into two methods.
One is by movable working platform. Using movable working platforms, several equipments or
machines can be used to take the workers up to the air for example by truck mounted platforms,
spiders or scissor lifts. Movable working
platforms are ideal method of access for window and facade cleaning at height for many large
buildings. Each group depends on the task of the job.

Figure 2.4: Work platform categories

11

Figure 2.5: Cleaning method using working platform

Another method in work platforms is by using scaffold. Scaffold is a platform made for workers
to stand to reach higher parts of the building (Hornby, 2005).

Figure 2.6: Cleaning method using scaffold

The fourth method is using ladder. The ladder that is used also must follow the guideline from
Health and Safety Executive to prevent the misuse of the ladder or error while handling with it.
There is also a standard for a ladder that is British or European standard (HSE, 2003). The British
standard is a ‘duty rating’ type compared with European standard that is ‘maximum static vertical
load’ type.

FOLLOWING PAPER ARE USED FOR THIS PROJECT

A. Development of Wall Climbing Robot

Ritesh G. Mahajan and Prof. S. M. Patil explained, the Wall Climbing Robot (WCR)
having capability that it can stick on a vertical as well as inclined surface and can easily
move over the surface. The targeted capability to stick with surface can be achieved by
suction cups. Suction cups create a vacuum pressure used to stick with vertical or inclined
surface. For movement (climbing) of robot it is necessary that some of suction cup should
release & that arrangement is obtained by developing the structure such that in which one
frame is used to hold the robot to wall & other for climbing ( vertical movement of robot)
.The motion of the other frame is carried out by providing rack & pinion type
mechanism . The whole action is controlled by an arduino and the commands sending on
the Zig-bee through the mobile [1].

B. Design And Development of a Climbing Robot for Several Applications.

Avvaru Subramanyam, Y. Malikarjuna and S. Suneel explained that, A suction cup, also
sometimes known as a sucker is an object that uses negative fluid pressure of air or water
to adhere to nonporous surfaces. And the climbing robot should be sucked to the surface
on which it is climbing safely and overcome its gravity. That is the first difference
between a climbing robot and an ordinary

walking robot on the ground. The robot should have a function to move in both the up-
down direction as well as the right-left direction to get to every point on the glass. Once the
task signals are sent by the user, the robot should keep itself attached to and move on the
surface, to meet the requirements of all kinds of functions, precise motion control is
needed. The precise position control of the movement will begin automatically as soon as
the signals are received. [2].

C. Development of small legged wall climbing robot with passive suction cup

Soichiro Kawasaki, Koki Kikuchi explained that, the weight is proportional to the mass,
i.e., the length cubed, the smaller the body size, the more advantageous it is for vertical
wall climbing. From this viewpoint, the passive adhesive mechanism is suited to a small
wall climbing robot moving with a few degrees of freedom (DOF). In particular, a passive
suction cup has unique characteristics such as the edge of the suction cup is detached easily
and the suction cup exerts far larger adhesion force than pushing force to attach it [3].

D. Development of small-size window cleaning robot by wall climbing mechanism

In this paper we studied about that, there are two units in the robot. One is for motion of the
robot and other is meant for cleansing purpose. The motion of robot is achieved through
motion unit. The motion unit comprises of 2 rotating discs, suction-cups, DC motor. Every
additional climbing strategy or principle that is explored, improved or tested can increase
the probability that a suitable method could be found for a (future) climbing task [5].
As shown in the block diagram of figure 1, an Arduino kit controls all the required actions.
A wireless hand set is used to control the directions of the robot in all four directions.
Instead of creating a robot direction control keypad we are going to develop software for
giving the directions to robot. We are going to interface the mobile software with the zig-
bee. This will give the all required instructions to the Arduino kit. An arduino will control
all DC motors to operate motion of robot. The motion of the robot is done by using the
Rack and pinion. Rack and pinion is used to conversion of rotational motion of the DC
motor to the linear motion of the rack. The pinion is a small gear mounted on the shaft of
DC motor and the Rack is a linear bar having number of teeth. The DC motor will rotate the
pinion and then it will transfer the power to rack. Then rack will perform vertical as well as
horizontal motion. Feed the robot body at the bottom of glass wall. Now power on for ready
to access commands/instructions. Woollen roller starts rotating to clean the wall.
Instructions are given to the assembly via mobile. Instructions are like up, down, right, left,
and stop. Up & down: Vertical Rack &Pinion starts working as per coding behind that.
Vertical motion is carried out. Right & left: Horizontal rack and pinion will start working
and moves in horizontal direction.

Starts cleaning of glass wall from the top of the wall to the bottom in zig-zag manner.
Suction cups are used to stick robot on the wall. This is done by applying and removing air
pressure into suction cups.

Fig.1 Working And Operation

 Fig 2. Top view of Robot

A. Mobile Application

The mobile application is designed such that it gives the commands to the arduino kit. In
that the direction of motions are entered. The motion of the robot will be in up-down or
left-right as per the users need. The commands send through mobile application to the
zig-bee placed in the circuit.

B. Suction Cups

This are generally made up of the elastic materials like rubber or soft plastic. Suction
cups works on the pneumatic force(vacuum). Suction cups are used to hold the glass wall
to stick on that. The climbing action takes place by the suction cups is simple and safe as
compare to other techniques used for climbing. Suction cups is the connection between
the glass wall and robot body.
C. Zig-bee

The zig-bee is the wireless language that everyday devices used to connect one another. It
is low cost and low powered mesh network. It is widely used for controlling and
monitoring applications where it covers the distance 1000m range. It is more convenient
than other short-range wireless sensor network such as Bluetooth and wi-fi. In this
project, the commands and instructions are get fetched with body of robot through the
mobile App.

D. Arduino kit

Arduino kit is designed by using the variety of microcontroller and microprocessor. This
board consists of set of analog and digital input/output(I/O) pins that can be interface to
various components used in this project. In this project, the mobile App(User) sends the
commands or instructions to the Arduino board via zig-bee.

E. Rack and Pinon

The rack and pinion is the part which converts the rotational motion into the linear
motion. The rotation of the shaft can be done using the dc motor and the horizontal
motion of rack is obtained.
.

Suction Cups

There are 8 suction cups are require. Out of which 4 on inner frame & 4 on outer frame.
Suction cups used for the developed robot are of ESS50-FESTO type (with an outer diameter of
50 mm).

Property Value
Design structure Vacuum connection at
top
Design structure round, standard
Ambient temp -20 - 60 °C

Operating medium Atmospheric air

Symbol 00991485
Breakaway force at
70%
106 N
vacuum
Shore hardness 62
Property Value
suction cup diameter 50 mm
Mounting thread G1/4
Vacuum connection G1/4
suction cup mounting G 1/4
Product Type Festo Suction cup VAS
VASB

Effective suction
diameter 44 mm
Materials information
for Zinc die-casting
screw-in stud

Materials information
for TPE-U(PU)
suction cup

Voltage regulator

Voltage regulator ICs are available with fixed (typically 5, 12 and 15V) or variable output
voltages. They are also rated by the maximum current they can pass. Negative voltage regulators
are available, mainly for use in dual supplies. Most regulators include some automatic protection
from excessive current ('overload protection') and overheating ('thermal protection').
 Many of the fixed voltage regulator ICs have 3 leads and look like power transistors, such as
the 7805 +5V 1A regulator shown on the right. They include a hole for attaching a heatsink if
necessary.

Fig.4.4 Voltage Regulator

Microcontroller 89V51RD2:

P89V51RD2 Features

 64 KB flash memory
 1 KB RAM
 32 I/O lines
 Programmable counter array
 In System Application
 Three 16-bit Timer/Counter

D.C. Motor: (12 volt , 30 rpm).

A DC motor is a mechanically commutated electric motor powered from direct current (DC).
The stator is stationary in space by definition and therefore so is its current. The current in the
rotor is switched by the commutator to also be stationary in space. This is how the relative angle
between the stator and rotor magnetic flux is maintained near 90 degrees, which generates the
maximum torque.

DC motors have a rotating armature winding but non-rotating armature magnetic field and a
static field winding or permanent magnet. Different connections of the field and armature
winding provide different inherent speed/torque regulation characteristics. The speed of a DC
motor can be controlled by changing the voltage applied to the armature or by changing the field
current. The introduction of variable resistance in the armature circuit or field circuit allowed
speed control. Modern DC motors are often controlled by power electronics systems called DC
drives.

The introduction of DC motors to run machinery eliminated the need for local steam or internal
combustion engines, and line shaft drive systems. DC motors can operate directly from
rechargeable batteries, providing the motive power for the first electric vehicles. Today DC
motors are still found in applications as small as toys and disk drives, or in large sizes to operate
steel rolling mills and paper machines.

Chapter IV construction and working

Manufacturing

4.1 Overview
The entire prototype body has been manufactured by our team out of PVC. Most pieces were
hand-milled, with the exception of the driver base and top piece, which are more complex and
were CNC milled. SolidWorks was used to model our prototype, and the necessary files were
imported into Unigraphics to generate tool paths for the CNC programs. Process plan sheets are
located in Appendix C.

Ordered parts include the motor driver and microcontroller, the joystick, the battery pack, and
the motors.

For large-scale manufacturing, we would likely use injection molding. While our prototype has
many small pieces, these could be combined into two injection-molded pieces, which could then
snap together, replacing the many screws used to hold together our prototype. This would lower
the amount of parts needed, the assembly time required, and ultimately the cost of the mass-
produced product.

4.2 Prototype Manufacturing

The Winrobo prototype that was produced for the Design Expo consisted of the main driver
machine, a follower, and a controller box (with the joystick). All parts were manufactured by
hand (or through CNC code) or were purchased from hobby websites such as Solarbotics.com.

4.2.1 Body & mechanical assembly

The items that were purchased included the joystick itself, a motor driver circuit board (which
came unassembled and unsoldered), the power source, the two motors, and the wheels. The
joystick, power source and driver were held in the controller box, and the motors were fastened
to the main driver base using metal brackets that were provided by the company.

The driver base was cut from a large block of PVC using a CNC mill. The other parts that were
milled included the two cover pieces for the base, the top cover, and the follower base (with four
magnet mounts). These were all milled by hand using a variety of ball and end mills most of
which were either 1 or ½ inch diameter, and all of the pieces were fastened together using #4-40
screws, either ½ inch in length.

The controller box was cut from a large piece of plywood and held together with metal brackets.
Once these pieces were all constructed, the wires and circuitry were attached and soldered,
finishing the final prototype design.
4.2.2 Electronics Assembly
In order to show the capabilities of the final design concept at the design expo, it was necessary
to have a functioning joystick able to control the robot’s movements. It was necessary to show
that the robot could go forwards and backwards, as well as rotate both clockwise and
counterclockwise. It was assumed that this had to be done without having someone pushing the
wires together on the base as had been the primary method throughout the semester.

Using the L298 Motor Drivers that were purchased from Solarbotics, it was possible to make the
motors go forward and backward, and with the four directions on the joystick that was provided,
it would be possible to achieve the different motions necessary. Connecting the joystick to the
drivers, however was not an easy thing to do, and in the end, this became the biggest problem
that was encountered in building the final product.

4.3. WORKING :
In this portion, we will have a brief discussion about the designing of the robot. Different macro
aspects in the design are being considered and discussed, that might affect the working efficiency
of the robot. The robot will have a main base body, from which its arms (generally four) will
spread out. The robot will have its vacuum pad attached to its arms. We can also use the vacuum
pads on the main body, but this depends on the need. For example if the robot is tasked for any
weight lifting purpose, then it will be preferable to use the suction pads in the main body. The
reason is, it will give more strength to the robot in sticking itself to the wall. Thus, making sure
that it does its task without failure i.e. without detaching from the surface due to heavy weight of
the load. The vacuum controller can be placed either on on-board or on the external[3] . Placing
the controller on the main body of the robot will make it more independent, and thus can be
operated wirelessly. This will also increase the effectiveness of performing work by the robot,
while placing it external will add a limitation to the manoeuvrability of the robot We can make
modifications as per our requirement, to make the robot capable of performing the various task
assigned to it. For example, in order to lift weights, we can add a robotic arm of particular
specifications. Robotic arm of different specification, can similarly be used for repairs in
electrical or electronic installations. Adding an camera to the climbing robot will help us in
surveillance and intelligence purpose
Initially the robot will be placed against the wall which it has to climb. At first the Central box
which has four suction cups beneath it are activated and they make the robot stick to wall. The
legs are free to move in this position. Now the motor starts rotating shaft in clockwise direction
which moves rack and hence the leg in forward direction. It moves forward till the pinion reaches
end of the rack. At this stage suction cups under the legs of robot are activated and sticks to wall.
Then the suction cups below the Central box are released. Now the motor is activated such that it
rotates the shaft in anti clockwise direction and hence the pinion moves towards the initial end
and the Central box which is fixed to motor will move up matching the initial position but at one
step away from starting poin

CHAPTER V
CONCLUSIONS
The paper introduces a new small size, light, and inexpensive window cleaning robot. As
compared to other available window cleaning robot, it has the advantage of being operated by a
single electrical motor and system of suctions cups. The single motor is able to advance the robot
body in a preprogrammed swinging pattern on the 2D plane of the window pane and
simultaneously clean the window with the sponges attached to the swinging robot body. It can be
operated in automatic and manual mode. It will provide a safe cleaning of the office or home
windows, especially for high-rise buildings. The test run of the robot has demonstrated the
efficiency of the robot

REFERENCE
[1] Nansai, S.; Mohan, R.E. A Survey of Wall Climbing Robots: Recent Advances and
Challenges. Robotics 2016, 5, 14.

[2] J. Liu, H. Jiang, Z. Li and H. Hu, "A Small Window-Cleaning Robot for Domestic Use,
International Conference on Artificial Intelligence and Computational Intelligence, Shanghai,
2009, pp. 262-266.

[3] Vinod kumar M V, Prem kumar naik, Prasad B G, Syed Razeequlla, "International Journal of
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[4] Dănuţ Pavel TOCUŢ, “Design of Cleaning Robot System to External Glass Walls of
Buildings”, Fascicle of Management and Technological Engineering, ISSUE #1, JULY 2013,
pp.423-426.

[5] Houxiang Zhang, Jianwei Zhang, Rong Liu, Guanghua Zong,“Mechanical Design and
Dynamics of an Autonomous Climbing Robot for Elliptic Half-shell Cleaning ” International
Journal of Advanced Robotic Systems Vol 4, Issue 4

[6] Jemish A Mistry Harinkumar N Prajapati and Umang V Topiwala, “Conceptual Working Of
Glass Cleaning Robot”, International Journal of Advanced Research in Engineering, Science &
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[7] Shinde Mayur et al.,“Automatic Window Washing Robot”, International Journal of Emerging
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