Climbing cleaning robot for vertical surfaces

Teodor Akinfiev (IAI/CSIC – Industrial Automation Institute, Madrid, Spain)
Manuel Armada (IAI/CSIC – Industrial Automation Institute, Madrid, Spain)
Samir Nabulsi (IAI/CSIC – Industrial Automation Institute, Madrid, Spain)

Industrial Robot

ISSN: 0143-991x

Publication date: 19 June 2009



The purpose of this paper is to develop a climbing cleaning robot with reasonably high productivities for vertical surfaces.


The paper analyzes the reasons for the low productivities or unreliable work of cleaning robots for vertical surfaces. Based on this analysis, a design of a new robot is created. Pilot studies were performed of laboratory and industrial prototypes of a new robot.


The paper shows that the new design provides a reliable and high‐performance work of the cleaning robot for vertical surfaces. Thus, the new design provides increasing in productivities more than ten times compared with the known robot.

Research limitations/implications

In this paper, it is assumed that the speed of the robot during the process of surface cleaning is constant. For future research the algorithm is proposed that automatically maintains such speed of the robot, which depends on the degree of dirtiness and is optimal for the surface to be cleaned.

Practical implications

The results of the research have been used in the manufacture of the robot TITO 500 industrial prototype. Currently, the company RatioForem is implementing small‐lot production of the robots TITO 500.


A new design has been developed for a high‐performance climbing robot for vertical surfaces cleaning, and algorithms for control of the robot.



Akinfiev, T., Armada, M. and Nabulsi, S. (2009), "Climbing cleaning robot for vertical surfaces", Industrial Robot, Vol. 36 No. 4, pp. 352-357.

Download as .RIS



Emerald Group Publishing Limited

Copyright © 2009, Emerald Group Publishing Limited

Please note you might not have access to this content

You may be able to access this content by login via Shibboleth, Open Athens or with your Emerald account.
If you would like to contact us about accessing this content, click the button and fill out the form.
To rent this content from Deepdyve, please click the button.