Abstract:A mini-wall-climbing cleaning robot was presented based on axis gear train and planetary gear train movement.Biped vacuum suction principle was adopted for the robot.Its configuration was stated and four locomation modes of cleaning,turning in plane,moving and transmitting barrier were described,respectively.In order to verify the effectiveness of the design,each locomotion mode was simulated based on ADAMS.Simulation results proved that the robot could accomplish excepted movements and has such features as few driving numbers and excellent maneuverability.The overall dimension of the robot was 366 mm(long)×174 mm(width)×165 mm(height).The weight of the robot was about 5 kg.