期刊
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT I
卷 9834, 期 -, 页码 122-133出版社
SPRINGER INT PUBLISHING AG
DOI: 10.1007/978-3-319-43506-0_11
关键词
Cleaning robot for solar panel; Monorail bogie technology; End-effector; Robot-rails system; Dynamics responses; Position and gesture
The dust particles on solar panel surface have a serious influence on the consistency and efficiency of photovoltaic power station, a new cleaning robot based on monorail bogie technology using for automatic cleaning of solar panel is presented in this paper. Position and gesture of the end-effector are critical to the quality and efficiency of work. According to the mechanical structure and motion mechanism of the bogie, five hypotheses which simplify the robot-rails system as a double masses-spring-damper model are proposed. The governing motion equations of the robot during travel process are established, and then the corresponding position and gesture of end-effector within motion range are determined by analyzing dynamics responses of bogie under the input of end-effector's motion. The simulation model under this defined function is built and curves of position and gesture are plotted based on Simulink. A prototype is fabricated and tested by Leica laser tracker, which shows that the position and gesture of the end-effector are related to its working position.
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