Cleaning System Fabrication and Improvement

The shape of the cleaning surface has been changing throughout the design process. The original idea is to have a simple rectangular shape platform . The problem is that the landing area of the suction cup cannot be covered. So we came up with the new design as shown in the figure below:

The suction cups are placed in the crescent holes of the cleaning platform. The extended part can cover the area after each transition. The two small holes are for ring spring connections.

After a few tests, the actually cleaning area is smaller than the motion range. In order to solve this problem, we came up with a new design:

The ring springs are placed at the end of the cleaning platform. When the robot moves on the window, the ring spring acts as a pivot point and exert reaction forces to force the other side on the window. Test result shows that the coverage area increases after the refinement.