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In the study, the mechanical behaviour of the robot, end effector – object – end effector, robot system is analyzed in terms of external forces affecting robots and their grippers as well as deformation forces influencing on the glass sheet through grippers provided that the robot kinematical structure and vacuum gripping head form an absolutely rigid system. The solution results are stress fields in the glass sheet, requirements for the robot path accuracy, and recommendations for solving special vacuum grippers for this type of robotic handling.

The paper submitted presents a new-generation mobile platform specially designed for the service robot destined for motion on vertical oriented walls, e.g. on glass façade systems of tower buildings. The platform has been developed goal-directly as a motive system allowing special technological extensions to be installed with a view to inspecting, assembling or washing. It uses a stepping principle alternating step by step the motion of legs and body. A holding system was created based on the vacuum principle with greater number of parallel suction cups associated with the smart vacuum technique. Component rotational motive units are fitted with servo-actuators with electro motors being controlled on the level of modular systems based on an embedded PC.