OPTIMIZATION OF PHOTOVOLTAIC CLEANING MANIPULATORS BASED ON IMPROVED HARRIS HAWKS OPTIMIZATION ALGORITHM

Tang Shufeng; Yu Hui; Wang Xin; Guo Xiaodong; Chang Hong

doi:10.19912/j.0254-0096.tynxb.2024-1868

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Acta Energiae Solaris Sinica ›› 2026, Vol. 47 ›› Issue (2) : 140-147. DOI: 10.19912/j.0254-0096.tynxb.2024-1868

OPTIMIZATION OF PHOTOVOLTAIC CLEANING MANIPULATORS BASED ON IMPROVED HARRIS HAWKS OPTIMIZATION ALGORITHM

Tang Shufeng^1,2, Yu Hui^1,2, Wang Xin^1,2, Guo Xiaodong^1,2, Chang Hong^1,2

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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.

Key words

PV modules / robotics / manipulators / PV modules cleaning robot / Harris hawks optimization algorithm / structural optimization / mobile robots

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Tang Shufeng, Yu Hui, Wang Xin, Guo Xiaodong, Chang Hong. OPTIMIZATION OF PHOTOVOLTAIC CLEANING MANIPULATORS BASED ON IMPROVED HARRIS HAWKS OPTIMIZATION ALGORITHM[J]. Acta Energiae Solaris Sinica. 2026, 47(2): 140-147 https://doi.org/10.19912/j.0254-0096.tynxb.2024-1868

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