Abstract
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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Acknowledgements
The authors would like to acknowledge the financial support of the Natural Science Foundation of China under Grant 51475050, Shanghai Science and Technology Committee under Grant 12510501100, the Natural Science Foundation of Shanghai City under Grant 14ZR1422700, and the Technological Innovation Project of Shanghai University of Engineering Science under Grant E1-0903-15-01012.
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Shen, C. et al. (2016). Modeling and Analysis on Position and Gesture of End-Effector of Cleaning Robot Based on Monorail Bogie for Solar Panels. In: Kubota, N., Kiguchi, K., Liu, H., Obo, T. (eds) Intelligent Robotics and Applications. ICIRA 2016. Lecture Notes in Computer Science(), vol 9834. Springer, Cham. https://doi.org/10.1007/978-3-319-43506-0_11
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DOI: https://doi.org/10.1007/978-3-319-43506-0_11
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