To　fulfill　the　demand　for　the　lightness,　high　reliability　and　safety,　three　structure　design　principles　were　proposed　for　a　cone　high-rise　glass-curtain　wall　cleaning　robot.　The　whole　cleaning　robot　structure　was　designed　based　on　the　principles　which　were　described　as　the　motion　driver　dispersed　configuration,　the　main　and　secondary　motion　integrative　drive　and　the　soft　drive　structure　for　the　main　motion.　The　methods　adopted　by　the　robot　to　go　through,　attach　and　clean　the　glass-curtain　wall　were　detailed　consequently.　The　architecture　dimension　error　s　infection　to　the　robot　was　analyzed　to　testify　the　feasibility　of　the　soft　drive　structure　and　the　adaptability　of　the　robot　to　the　error.　The　cleaning　robot　for　an　airport　control　tower　was　developed　according　to　the　principles　discussed.　The　practicability　and　reliability　of　the　robot　were　testified　by　the　fieldwork.　The　cleaning　robot　system　proposed　is　now　used　for　the　airport　control　tower　s　daily　cleaning　service.