Did you turn the wipers on before the ice/snow melted? If so, you may have "stripped" the wiper arms nubs/fitement holes. And this is with any car/truck. Never do this, always either clear the windscreen, around the wipers etc., and/or defrost the windscreen before turning the wipers on.
Try losening the screws that hold the wiper arm to the nub, realign the wipers (so they go back down to their original position), then retighten the screws to 13 lb ft. Don't over tighten. It's an easy job.
And while you're at it, look to see if the nub is stripped and/or inside the wiper arm fitment hole.
If they are stripped you may need new wiper arms/maybe wiper motor nubs.