Design and Implementation of a 3-DOF Modular High-Rise Façade-Cleaning Robot with an XYZ Motion Module

In recent years, the increasing construction of high-rise buildings has led to the widespread use of glass curtain walls. Regular cleaning is essential to maintain their aesthetic appeal and functionality. However, manual cleaning methods pose significant safety risks, necessitating the development of façade-cleaning robots. This paper presents a 3-Degree-of-Freedom Modular High-Rise Façade-Cleaning Robot (3-DOF-MHRFCR), consisting of a lifting module, an XYZ motion module, and a cleaning module. The robot employs a synchronous belt lifting mechanism for vertical movement, ensuring high positioning accuracy and safety. The XYZ motion module enables precise cleaning and obstacle traversal, while the cleaning module combines high-pressure water jets, rotating brushes, and squeegees for effective contaminant removal. Experimental results demonstrate a maximum glass transmittance enhancement of 72.4% and a 21.8% reduction in water consumption compared to manual cleaning, validating the robot’s efficiency and stability.