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As the demand and market for building maintenance are increasing, automated building façade cleaning has become essential. Robots are replacing human workers because cleaning work on high-rise buildings using gondolas can be dangerous. Several façade cleaning robots have been developed for climbing, and practical knowledge to clean the façade is being adopted in their cleaning devices. In this study, a passive linkage suspension mechanism and tri-star wheels are applied to solve the problems ofdoi:10.1109/access.2019.2950689 fatcat:2zmhi47mone3xoi32uhxu4mb5a