nismsandillustratestheprototypefortestingtheproposedlocomotionmechanism.Therdchapterillustratesitsbasicpropertiesbasedontheexperiments.Fig..Small-sizewindowcleaningrobotonawindowLocomotionMechanismVariousresearchesoflocomotionmechanismsonthewindowcleaningrobotshavebeenreported.Howevertheydonotmeetourspecificationsdefinedbasedonthemarketdemandsabove-mentioned.Forexample,climbingrobotbylegged-walkcannotrealizethecontinuousmovement,andalsoitsturn-abilityislow[].Climbingrobotusingcrawlermechanismallowscontinuousmovement,buttherotatabilityisaslowasorlowerthantheleggedwalk[].Windowcleaningrobotbycrawlermechanismhadbeendeveloped(Size:mmWeight:.kgmaximumspeedcm/sec)byShraftetal.[].Itmustbringitsowncrawlerupfromtheadheringsurfaceandrotateitinordertochangeitstravelingdirection.Thismechanismneedsstrongadheringforcetoholdthewholesystemontheverticalplanewithliftingt越窗框或使用它在任何窗口关节显然是必要,但是像一个展览窗户单窗玻璃上也可作为一种重要应用。
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