Design And Analysis Of Sloar-cleaning Robot

With the rapid development of the domestic centralized photovoltaic power plants,the demand for automatic cleaning equipment’s capability is increasing. This thesispresents a solar cleaning robot with a6degrees of freedom cleaning manipulator. Themain research content is as follows:(1) On the basis of analyzing the relevant researches from the domestic and foreign,the overall design of a6-dof solar cleaning robot is completed, specifically including: themoving vehicle carries a6-dof manipulator which can fix the cleaning actuator’s positionand attitude in real time. The cleaning actuator can realize its function without usingwater.(2) By using parametric method and graphical method, the robot’s mechanicalsystem is deeply analyzed for getting the rod length and the range motion, which couldbe used for the design of the construction of the hydraulic system. The cleaning actuatoris completely designed. And the key components are analyzed for stress in order tooptimize their structure.(3) The robot motion equation is established by using the D-H method. In order tooptimize the working location of the manipulator, its Jacobian matrix is solved by usingdifferential transform method.(4) With analyzing and summarizing the sources of the position and orientation ofthe manipulator, the robot’s static pose error model is established by applying the matrixmethod and perturbation method. The solar cleaning robot’s manufacturing precision isrequired specifically.In this thesis, a design method for the overall design of a solar cleaning robot andkinematics design of a6-dof manipulator is established. This method lays a foundation on design and manufacturing of high-performance automatic cleaning equipment whichis used in the centralized photovoltaic power plant.