Modeling and Analysis on Position and Gesture of End-Effector of Cleaning Robot Based on Monorail Bogie for Solar Panels

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.