Designing and Analyzing a Robot Autonomous Window Cleaner

This paper presents the design and analysis of a Robotic Autonomous System (RAS) Window Cleaner, developed to clean high-rise building windows while ensuring efficiency, safety, and adaptability to environmental conditions. The system features a two-link actuated cleaning arm, controlled by geared electric motors with quadrature encoders for precise movement tracking. The cleaning mechanism is mounted on a motorized cable system, enabling controlled vertical and horizontal motion along building facades.

The study examines key technical aspects, including translational and rotational motion, servo motor control, and dynamic system response. The control system incorporates layered architecture, managing power, sensors, and actuators to navigate obstacles such as window seams, building protrusions, and adverse weather conditions. Mathematical modeling of the system includes kinematic analysis, transient response, steady-state response, and frequency response analysis, ensuring optimal performance and stability.

Experimental and analytical results validate the feasibility of the system, demonstrating its potential to replace manual window cleaning, reducing risks to human workers while maintaining operational efficiency. The research highlights the importance of automation in hazardous environments and provides a foundation for further advancements in autonomous robotic cleaning technologies.