Research On Design And Control Method Of Six-dof Manipulator For Photovoltaic Plate Cleaning Vehicle

Countries are investing more in green energy applications,including improving the life and efficiency of photovoltaic panels in solar power stations.The research objective of this topic is to apply the mechanical arm as the execution unit to the cleaning work of solar panels.Multiple degrees of freedom of the mechanical arm are used to make its hands move along the predetermined trajectory.The cleaning device connected to the front end of the hand is responsible for cleaning the solar panel,so as to reduce the need of manual operation and improve work efficiency.On the basis of studying related mechanical arms at home and abroad,this paper designs the structure of mechanical arms according to design requirements,determines relevant parameters,and selects displacement sensors and motors.D-H method is used to formulate the coordinate system and related parameters of the connecting rod,and then the kinematics equation is obtained by the transformation between coordinate systems,and then the forward/inverse solution is calculated on the basis of the known equation,and Matlab software simulation is used.The moving route of the cleaning device is analyzed and its trajectory planning is designed.The route of space movement is divided into three parts,and the 4-3-4 cubic polynomial is used for planning.During the cleaning operation,a mode switching position is added when the cleaning device is in contact with the photovoltaic panel.During the switching process,a fifth degree polynomial is used to switch the cleaning device from high speed to low speed to approach the photovoltaic panel.Automatic cleaning device using ɑ wage adjustment process is symmetrical triangle of S type curve.The dynamic model of mechanical arm was established.According to the requirements of manipulator control system,a closed-loop control system based on "PC+ motion controller + servo drive" is proposed.For joint position control,the three-ring system control structure of "position loop + velocity loop + current loop" is adopted.PD control structure is adopted for the robot arm.Two kinds of control structures are modeled and simulated,and the results meet the control requirements.