基于单轨车辆转向架技术，构建一种单轨行走式光伏电池板清洗机器人。根据机器人系统的力学、几何特性及其行走架的行走机理，提出5条基本假设，构造基于弹簧阻尼模型的清洗机器人电池板系统力学模型。建立行走过程中清洗机器人的运动学方程，研究在清洗器任意运动下行走架的动态响应，确定清洗器在工作区间内对应的位姿。利用分段函数建立清洗器对应工况下的运动函数，基于MATLAB／Simulink建立仿真模型，得到行走架和清洗器对应的位姿变化曲线。结果表明清洗器的运动对行走架的位置参数存在一定影响，清洗器的位姿与自身的工作位置有关。样机试验进一步验证了设计构型与分析模型的合理性。%Based on bogie technology of monorail vehicle ,a monorail tracked robot for clean of so-lar panel was presented .According to mechanical and geometrical properties of the cleaning robot and motion mechanism of the bogie ,five hypotheses were proposed and the robot-panel system model was built based on the spring-damper unit .The motion equations of cleaning robot during travel were es-tablished and the dynamic responses of bogie under the input of cleaner’s motion were solved .Then the corresponding position and gesture of cleaner within motion range were determined .By defining working function of cleaner based on the piecewise ,the simulation model was built and curves of posi-tion and gesture were plotted in MATLAB/Simulink .The results show that the position of bogie is af-fected by the motion of cleaner .The position and gesture of cleaner are related to its working posi-tions .Further prototype test verifies the rationality of structural design and analysis model .
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