针对现有光伏组件清扫机械臂在常用工作空间性能不高的问题,提出一种改进哈里斯鹰优化算法对机械臂的结构尺寸进行优化,该算法结合正交交叉算子,使得局部搜索能力变得更强。根据实际发电厂光伏组件安装参数,建立常用工作空间的约束指标,并将常用工作空间的全局性能和结构长度两个指标作为目标函数。仿真试验结果表明,改进后的算法寻优更快,针对提出的两个指标分别提高21.27%和8.72%,相同作业环境下,优化后的机械臂到达目标位置所需时间相对于优化前缩短21.7%,机械臂的灵活性提高,清扫光伏组件的效率提升。
Abstract
In order to solve the problem that the performance of the existing photovoltaic （PV） modules cleaning manipulators is not high in the common working space. An improved Harris Hawks Optimization algorithm was proposed to optimize the size of the manipulators. The orthogonal crossover operator is introduced into the algorithm, which makes the local search ability stronger. According to the actual PV modules installation parameters of the power plant, the constraint index of the workspace is established, and the global performance index and the structure length index of the common workspace are taken as the objective function. The simulation results show that the optimized algorithm is faster, and the two proposed indicators are increased by 21.27% and 8.72% respectively, and the time required for the optimized robotic arm to reach the target position is shortened by 21.7% compared with the previous optimization under the same operating environment, which improves the flexibility of the manipulators and improves the efficiency of PV modules cleaning.
关键词
光伏组件 /
机器人 /
机械臂 /
光伏组件清扫机器人 /
哈里斯鹰优化算法 /
结构优化 /
移动机器人
Key words
PV modules /
robotics /
manipulators /
PV modules cleaning robot /
Harris hawks optimization algorithm /
structural optimization /
mobile robots
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基金
内蒙古自治区自然科学基金（2025MS05094）; 国家自然科学基金（52465003）; 内蒙古自治区科技计划（2025YFDZ0057）; 内蒙古 自治区“英才兴蒙”工程创新团队(2025TEL02)
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