Abstract
The trend of using glass as material for facade construction requires intelligent cleaning solutions. Due to increasing automation, more and more automated or even autonomous cleaning robots are wanted. However, the diversity of facade types often requires special solutions with accordingly high development costs. A unit assembly system for facade cleaning robots would reduce those development costs. This paper shows the difficulties emerging from the development of such a unit assembly system and proposes its structure. Examples for different motion systems of climbing robots will be described to exemplify this structure. The so called caterpillar kinematics and will be introducted as an example for a modular facade cleaning system in this paper.