光伏板清洁机器人运动学建模与仿真

为实现光伏板清洁机器人的精准运动控制,运用D-H法建立光伏板清洁机器人臂架机构运动学数学模型。根据变量的性质,将光伏板清洁机器人臂架机构的运动学问题用驱动空间、关节空间、位姿空间之间的映射关系描述,根据机构的几何特征,分别推导出各工作空间之间的映射关系。在MATLAB环境下对臂架机构数学模型进行运动学仿真并绘制清洗装置末端轨迹包络图,验证光伏板清洁机器人臂架机构运动学数学模型的正确性。研究结果为光伏板清洁机器人轨迹规划、运动仿真与动力学分析等提供了理论依据。

Kinematics Modeling and Simulation of the Photovoltaic Panels Cleaning Robot

The kinematic mathematical model is established using the D-H displacement matrix method in order to achieve accurate kinematic control for the photovoltaic(PV) Panels Cleaning Robot. The mechanisms were also divided into actuator space and joint space as well as pose space according to the properties of variables. Each mapping relationships among the three kinds of space was figured out respectively from the starting of solving for the kinematics and utilizing the geometrical characteristic of the mechanisms. The kinematics model of an excavator working device was built in MATLAB,which validity of the kinematics model was verified. The result provides the theoretical basis for kinematics point trajectory planning and kinematic simulation as well as dynamic analysis of the PV Panels Cleaning Robot.