Design of a Modular Mobile Robot with Active Suction for Glass Window Cleaning in Buildings

Abstract

Window cleaning in high-rise buildings is a high-risk activity that demands automated solutions to ensure industrial safety and operational efficiency. This paper presents the design, prototyping, and validation of a modular mobile robot with active suction, optimized for glass facade maintenance. The system utilizes high power brushless motors to generate controlled suction, paired with a differential locomotion system for stable vertical displacement. A key technical contribution is its reconfigurable architecture, allowing the integration of interchangeable modules for cleaning, structural inspection, or monitoring. The firmware, developed using Object-Oriented Programming (OOP), enables robust logical management of peripherals and sensors, facilitating seamless system configuration. To validate the approach, a functional prototype was evaluated under real conditions, focusing on load capacity, aerodynamic stability, and adhesion reliability. Results demonstrate constant suction and effective trajectory control, significantly reducing human risk in critical environments. Furthermore, this research establishes the basis for future autonomous navigation and sensor integration in large scale urban settings. Consequently, this mechatronic development represents a substantial advancement in automating specialized services for smart city infrastructure. By providing a versatile and safe platform, this work addresses the inherent challenges of high-altitude maintenance while establishing a scalable framework for diverse vertical robotic applications in modern construction.