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IJMERR 2022 Vol.11(3): 151-158
DOI: 10.18178/ijmerr.11.3.151-158

Two-Dimensional Movement Photovoltaic Cleaning Robot with Speed Control

Ayat A. Al-Jarrah1, Rami A. Al-Jarrah2, Fadwa W. Al-Momani1, Mohammad Ababneh1, and Manar B. Al- Hajji3
1. Department of Mechatronics Engineering, Faculty of Engineering, The Hashemite University, P.O. Box 330127, Zarqa 13133, Jordan
2. Department of Mechanical Engineering, Faculty of Engineering, The Hashemite University, P.O. Box 330127, Zarqa 13133, Jordan
3. Department of Mechanical Engineering, School of Engineering, The University of Jordan, Amman, Jordan

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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