倾斜光伏面板清洁机器人自锁特性分析

Self-locking Characteristics Analysis of Tilting Photovoltaic Panel Cleaning Robot

为了提高小型光伏发电系统的发电效率,保持光伏面板的清洁,设计一种能够在倾斜光伏面板上行走并进行清扫工作的清洁机器人稳定机构,在满足机器人运动学原理的基础上,给出了机器人的构型方案,并分析了其在平面和斜面上的自锁特性,同时通过具体实验验证得到了稳定工作情况下的自锁角度,实验证明了运动模型的合理性.

In order to improve the power generation efficiency of small photovoltaic power generation system and keep the photovoltaic panel clean, this paper designs a cleaning robot stabilization mechanism which can walk on the tilted photovoltaic panel and clean it. On the basis of satisfying the kinematics principle of the robot, the configuration scheme is given, and its self-locking characteristics on the plane and inclined plane are analyzed. At the same time, the self-locking angle under stable working conditions is obtained through specific experiments, which proves the rationality of the motion model.