With the development of cities, more high-rise buildings continue to emerge. Regular cleaning of building exterior walls is necessary, which mainly relies on manual work now. In this article, the planar four-cable-driven parallel robot (CDPR) is adopted to carry out the external cleaning of high-rise buildings. Firstly, the kinematic model and static model are established. The influence of the maximum cable force on the workspace is analyzed, and the position of the cable connection points on the end effector is discussed. Then, the stiffness of the CDPR is analyzed, which reveals that a large difference of the width-to-height ratio between the end effector and the base improves the stiffness condition number and average stiffness of the CDPR. Considering the size of the cleaning module, the horizontal cross layout is adopted and cable connection points are determined. The cable force range is discussed considering the variable size of the base. Finally, the prototype of a cable-driven cleaning robot is designed accordingly.

随着城市的发展，更多的高层建筑不断涌现。定期清洁建筑物外墙是必要的，现在主要依靠手工作业。本文采用平面四缆驱动并行机器人（CDPR）对高层建筑进行外部清洁。首先建立运动学模型和静态模型。分析了最大电缆力对工作空间的影响，并讨论了末端执行器上电缆连接点的位置。然后，分析了CDPR的刚度，这表明末端执行器和基座之间的宽高比之差大大提高了CDPR的刚度条件数和平均刚度。考虑到清洁模块的尺寸，采用水平交叉布局并确定电缆连接点。考虑了底座的可变尺寸，讨论了电缆力范围。最后，据此设计了电缆清洁机器人的原型。