In all, one of the key problems on the study of WCRs with SSC(s) is how to design the locomotion mechanism of WCR and structure of SSC for excellent motion capability.

• 在此基础上,为了促进带SSC的WCR在平面幕墙清洗领域的应用,设计了WWCR的简化机构:一种壁面牵引滑动式清洗机器人(Wall Sliding Cleaning Robot,WSCR),并和WWCR运动特性和工作能力进行了比较。