Design And Optimization Of The Manipulator Parts Of Cleaning Machine Of Solar Panel

With the development of solar PV industry, the using of solar power in scale is expanding and the subsequent cleaning problems of solar panel need to be solved. In this paper, a solar panel cleaning machine is designed aiming at cleaning problems of solar panel, and the structure of manipulator cleaning machine is optimized.Firstly, the structure of the manipulator is designed, which has the functions of stretching and recovering, and it remains stable at work. The function and role of each part of the manipulator are described in detail.Secondly, mathematical model of the manipulator is established by using the improved method of Danevit-Hartenberg, and the kinematics analysis was carried out on manipulator. According to the kinematics equation, manipulator workspace is planned. MATLAB software is used to plan the workspace of the manipulator, and the position image of manipulator reaching of space can be outputted in this software. The three-dimensional models of parts are established and the kinematics simulation is done in Pro/E. The simulation results show that the space position of the manipulator meets the design requirements.Thirdly, finite element static analysis of robotic cleaning head is done, which can find out the weak link, and results show that strength design of the manipulator are reasonable.Fourth, modal analysis of the cleaning machine is analyzed by using ANSYS, which can get the inherent frequency and inherent states of vibration to provide reference for the design of manipulator. The dynamics equation of manipulator is established, and the three-dimensional model is imported into ADAMS software for the rigid body dynamics simulation of manipulator. Simulation can measure force, torque, velocity, acceleration, etc. of each joint, which can show that structure design of the manipulator is reasonable.Finally, on the basis of existing work of previous chapters, the manipulator components are optimized. The manipulator components of the optimization are simulated and results show that the optimized components have less material and more stable.