Aiming at the problems that the existing window cleaning robots cannot work normally and have poor cleaning effects on curved glass, an adaptive double-sided window cleaning robot for curved glass has been designed. This robot adopted a dual-machine design, with both bodies consisting of multiple articulated mechanisms equipped with magnetic adhesion devices. The cleaning mechanism was composed of multiple articulated section units. During the process of the robot conforming to the curved glass, the articulated structures between adjacent mechanisms and adjacent section units formed included angles under the drive of magnetic adsorption devices, so as to achieve the self-adaptation of the robot to the curvature of curved glass surfaces. On this basis, the magnetic pole arrangement mode of the robot was optimized, and the curved-surface adaptability and motion stability of the robot were analyzed. The adaptive problem of robot caused by the changes in the thickness and curvature of curved glass was solved, and the constraint conditions for the stable operation of the robot in different postures were obtained. Finally, experimental tests were carried out in the actual working environment of the robot. The results showed that the designed robot had a good adaptive conforming effect and reliable motion stability on curved glass surfaces. The research results provide new ideas and solutions for the further development of curved glass cleaning robot technology.