Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
Abstract—Numerous countries desire solar as alternative way of generating clean energy. However, the efficiency of energy produced by photovoltaic panels is influenced by the accumulation of dust. Additionally, current labor-based cleaning methods for photovoltaic arrays are pricey. These complaints lead to the need for continuous cleaning of the surface of PV panels. This study presents a new design for a robot which is used to clean a solar cell in large farms and photovoltaic arrays to increase its efficiency. The design model was made using Solid Work, and then a simulation of this design was done through MATLAB program. The force of the robot arm’s impact on the cell, and its speed which are required to clean the cell, are the most important factors that have been focused on and controlled so as not to damage the cell. The results of the design simulation were close to the results based on theoretical equations describing the movement of this robot. A unit step response is verified to robot arm velocity. To control the robot, a specific simulated control method was used. The study shows that it is appreciated not only regarding of costing reduction, but also in term of reducing the force acting on a solar panel by controlling the speed of the robot arm. On the other hand, the root locus displays the stability of this design.
Index Terms—prismatic and revolute joints, photovoltaic cell, position and speed control, robot arm, tilting angle
Cite: Ayat A. Al-Jarrah, Rami A. Al-Jarrah, Fadwa W. Al-Momani, Mohammad Ababneh, and Manar B. Al- Hajji, "Two-Dimensional Movement Photovoltaic Cleaning Robot with Speed Control," International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 3, pp. 151-158, March 2022. DOI: 10.18178/ijmerr.11.3.151-158
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