Modal Analysis And Structural Optimization Design Of PV Module Cleaning Robot

In recent years,the demand of renewable energy is increasing,and photovoltaic power generation has become a new form of energy utilization.However,the dust on the photovoltaic module surface will lead to the reduction of the photoelectric conversion efficiency,and may make the hot spot effect,which will cause the short circuit and damage of the photovoltaic module in severe cases.Therefore,it has become an inevitable trend to use robot to clean photovoltaic panels.Considering that the photovoltaic modules has a certain angle and height,the safe operation of robots is highly required.This paper aims at a photovoltaic cleaning robot developed in the laboratory at the early period,and provides a basis for the subsequent structural optimization design of the robot through the modal analysis of its theory and simulation.Firstly,based on the main structure and working principle of the robot,the dynamic theory of the walking mechanism has been analyzed,which provides a theoretical basis for the subsequent dynamic design;At the same time,the modal theory analysis and simula t io n analysis of the main structure are carried out,the differences of various simula t io n algorithms are discussed,and the weak structure of the robot is identified,which provides a basis for the subsequent optimization design.Secondly,the paper makes a theoretical analysis of the adsorption performance of the robot sucker,summarizes the design conditions of the sucker group to prevent the robot from sliding,twisting and overturning,and optimizes the distribution of the sucker group;Then,according to the results of modal analysis,the optimization design of the main parts of the robot drive structure was carried out with stability and lightness as the optimiza t io n objectives,and the optimization results were verified.Finally,the adsorption reliability of the optimal design of robot sucker is verified by prototype test.The results show that the optimal design of structure is reliable;Then,the dynamic simulation analysis of the 3D virtual prototype of the robot was carried out,and the driving force and torque of each joint were obtained,which verified the correctness of the dynamic theoretical model and the dynamic design of the motor.