有別於市面常見的連續滾動輪式或履帶式機構，研究採用雙動式氣壓缸與真空吸盤交替吸附的「步進式步行」行進機制。此設計簡化了機械結構與控制邏輯，能以極少的零件數達成高推力與高負載優勢，使能承載清潔模組，消除輪式機構易在垂直光滑玻璃上打滑、脫落等隱患。

此外轉向系統捨棄差速系統或額外輪具，改採其設計「縱桿 × 橫桿 × 伺服馬達」旋轉關節，僅需單一旋轉自由度即可透過吸盤切換配合氣壓缸伸縮完成方向改變，具精簡且易控的優勢。

Distinct from the continuous rolling wheels or tracked mechanisms commonly seen on the market, this research adopts a "step-by-step walking" locomotion mechanism that utilizes dual-action pneumatic cylinders and vacuum suction cups for alternating adhesion. This design simplifies the mechanical structure and control logic, achieving high thrust and high payload capabilities with a minimal number of parts. This allows the robot to carry cleaning modules while eliminating safety hazards such as slipping or falling off vertical smooth glass, which are common issues with wheeled mechanisms.

Furthermore, the steering system discards differential systems or extra wheel assemblies. Instead, it adopts a custom-designed "longitudinal rod × transverse rod × servo motor" rotary joint. Requiring only a single rotational degree of freedom (DoF), the system changes direction through alternating suction cup adhesion coordinated with pneumatic cylinder extension and retraction, offering the advantages of a streamlined structure and easy control.