Mechanism design for walking typed solar panel-cleaning robot using triple driving lines

Abstract

In this study, we propose a walking-type solar power cleaning robot mechanism driven by a driving unit composed of three driving lines. The triple driving lines are driven using a link mechanism, and vacuum pads are attached to each driving line to move the robot body through a sequence operation between the three lines. Through this mechanism, the robot body can be moved horizontally with the panel without folding the pad, and the amount of vertical movement is minimized during movement. By analyzing the pressure patterns of the pads on the driving line, smooth and fast movement was possible.