End effector for cleaning objects having multiple surfaces

A method for cleaning an aircraft structure using an end effector, the method comprising:

• moving a platform of the end effector along a path relative to the aircraft structure using a robotic device, the end effector attached to the robotic device by a robotic interface associated with the platform;
• cleaning a first surface of the aircraft structure using a liquid and a first group of a first plurality of bristles as the platform is moved along the path, in which the first plurality of bristles is affixed to a first base having a first center axis of rotation, wherein the first group extends from the first base parallel to the first center axis of rotation, the first plurality of bristles configured to clean the first surface and a second surface of the aircraft structure as the platform is moved along the path;
• cleaning the second surface of the aircraft structure using the liquid and a second group of the first plurality of bristles as the platform is moved along the path, in which the second surface is angled relative to the first surface, wherein the second group extends from the first base perpendicular to the first center axis of rotation;
• contacting the first surface of the aircraft structure with a third group of a second plurality of bristles as the platform is moved along the path, in which the second plurality of bristles is affixed to a second base having a second center axis of rotation, wherein the third group extends from the second base parallel to the second center axis of rotation, the second plurality of bristles configured to contact the first surface and the second surface of the aircraft structure as the platform is moved along the path;
• contacting the second surface of the aircraft structure with a fourth group of the second plurality of bristles as the platform is moved along the path, wherein the fourth group extends from the second base perpendicular to the second center axis of rotation;
• and
• drying the first surface and the second surface and removing undesired material from the first surface and the second surface using a vacuum system associated with the platform as the platform is moved along the path.