基于ADMAS的光伏清洁机器人结构设计与分析  

Design and Analyses of Monorail Walking Photovoltaic Robot Based on ADAMS

作　　者：王冠杰 邵千钧[1] 梁冬泰[1] 梁丹 WANG Guan-jie;SHAO Qian-jun;LIANG Dong-tai;LIANG Dan(College of Mechanical Engineering,Ningbo University,Ningbo Zhejiang 315211,China)

机构地区：[1]宁波大学机械工程与力学学院

出　　处：《计算机仿真》2019年第8期342-347,共6页Computer Simulation

基　　金：国家自然科学基金青年基金(51305214);浙江省公益性技术应用研究计(2017C31094);宁波市自然科学基金(2017A610124)

摘　　要：利用单轨车辆转向架技术,设计了一种单轨行走式光伏清洗机器人。对光伏清洁机器人进行结构设计、虚拟样机建模和动力学仿真,提高光伏清洁机器人设计过程的效率与可靠性。在ADAMS中建立光伏清洁机器人的机械动力学模型,并运用ADAMS与MATLAB/Simulink联合仿真技术控制其运动,验证机器人在倾斜角太阳能板上的运动平稳性。结果表明:所设计的结构能够高效地在倾斜太阳能板上进行日常清洁工作,可为实际物理样机的开发提供可靠依据,对传统设计过程中机械和控制系统不匹配问题提供了一种解决方案。A monorail walking type photovoltaic cleaning robot was designed by using the monorail vehicle bogie technology. The structural design, virtual prototype modeling and dynamics simulation of photovoltaic cleaning robots was carried out to improve the efficiency and reliability of the photovoltaic cleaning robot design process. The mechanical dynamics model of the photovoltaic cleaning robot was established in ADAMS , and its motion was controlled by ADAMS and MATLAB/Simulink joint simulation technology to verify the smoothness of the robot’s movement on the tilt angle solar panel. The results show that the designed structure can efficiently perform daily cleaning work on inclined solar panels, which can provide a reliable basis for the development of actual physical prototypes, and provide a solution to the mismatch between mechanical and control systems in the traditional design process.

关 键 词：光伏清洁机器人 联合仿真 虚拟样机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]