Research On Kinematics And Trajectory Planning Of Mobile Cleaning Robot Arm For Photovoltaic Modules

At present,photovoltaic modules generate electricity as the main way of solar power generation.The ash accumulation on the photovoltaic module under natural conditions affects the power generation efficiency to a large extent.Manual cleaning and on-board robot cleaning have disadvantages such as high cost and difficult management,while the use of mobile cleaning robots can effectively avoid the above shortcomings.When the mobile cleaning robot is working in a large-scale photovoltaic power station,the movement trajectory of the cleaning robot arm will directly improve the working efficiency of the entire cleaning robot.In this dissertation,the kinematics,dynamics,trajectory planning and the shortest trajectory optimization of the cleaning manipulator were researched.The specific contents of the research are as follows:First of all,this dissertation introduced the overall structure of the photovoltaic module dry cleaning robot,and analyzed the implementation process of its cleaning action.The constraint matrix of the wheel before and after the mobile platform was established and the integrity analysis was carried out.Then the kinematics model of the mobile platform was established by the speed representation method.This dissertation simplified the cleaning robot structure model into a structural sketch and established a spatial coordinate system,based on which,the geometric relationship between several feature points in the model is obtained by calculating the mathematical relationship between the variables.The kinematics model of the cleaning robot was established in the end.Then,this dissertation established the kinematics model of the cleaning manipulator through D-H parameter method,and obtained the total transformation matrix of the cleaning manipulator system through coordinate transformation—the kinematics model for cleaning the manipulator.The positive and inverse solutions for cleaning kinematics of mechanical arms were solved basing on the kinematics model and parameter conditions,the correctness of which was verified in MATLAB.After that,the dynamic model of the cleaning manipulator was established by the Lagrange equation method,while the generalized force and moment of each joint were calculated based on the dynamic equation.Then,the dynamics simulation of Adams was used to obtain the curves of the joint(angle)velocity,(angle)acceleration,joint force and moment,and the simulation results were analyzed.Finally,the working space of the cleaning robot arm is solved by the CAD graphic method and the numerical method of the cell array type.The corresponding MATLAB program based on the linear interpolation algorithm and the circular interpolation algorithm was programmed to realize the linear and circular trajectory planning for cleaning the Cartesian space of the robot arm.With the shortest time as the goal,the shortest time for the same joint motion interval is the time optimization result of the genetic algorithm(GA)for the motion trajectory in the joint space of the cleaning robot arm.In a word,the method of cleaning the kinematics and dynamics model of the manipulator is feasible,and it also provides theoretical basis and reference for the research of this kind of robot.The trajectory planning research of the cleaning manipulator provides a theoretical basis for the execution of the cleaning task.