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    Design and realization of a non-actuated glass-curtain wall-cleaning robot prototype with dual suction cups

    This paper describes a non-actuated glass-curtain wall-cleaning robot prototype that has been designed and realized based on some wall-climbing robots developed recently and common traits of glass-curtain wall...

    Zhi-Yuan Qian, Yan-Zheng Zhao, Zhuang Fu… in The International Journal of Advanced Manu… (2006)