Design of building glass cleaning machine with robotic leg based on Arduino nano microcontroller

This manuscript is about designing a glass wall cleaning machine on the outside of a high-rise building, where the walls are almost entirely glass. Previous cleaner design has many weaknesses than this product. This design includes the calculation of mechanical systems, DC motors, suction pads, construction, and control system circuits. The calculation and experimental data such as the Suction pad can withstand a maximum load of 35kg. From the DC motor test results, the time value is 5000 µs. It takes 5 seconds to rotate the cleaning cloth and move the vacuum foot. The highest deflection value and bending moment value occur when the loading point is in the middle. This product has better work time, power efficiency, and a bigger safety factor.