| Autor: |
Dave, Jatin, Shah, Darshita, Patel, Amisha, Sen, Raima |
| Předmět: |
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| Zdroj: |
AIP Conference Proceedings; 2023, Vol. 2946 Issue 1, p1-13, 13p |
| Abstrakt: |
Solar energy is the only solution to cater to the need for future energy solutions. The scarcity of fossil fuels and increasing demand led to implementing non-conventional power sources. Solar energy power solution is green technological solution people are adopting with ease. Installations of the solar panel are done considering the availability of the sun rays. This is only possible when panels are mounted on the frames at height on the ground or rooftop places in the city areas. The task of mounting panels on structures at height requires skills and installation crews are facing problems of falling from height and heavy heat, rain, insect bites in forests areas, and other environmental issues. Several life-threatening accidental problems have also occurred. With the advancement in robotics and automation, it is possible to incorporate robots into the field of installation of solar panel installation. It is difficult to handle a big size solar panel with a single robot. Using the concept of swarm robots mounting and installation of a solar panel can be automized. This paper presents the kinematic analysis a robotic manipulator that can be utilized for solar panel installation. The dimensions of the solar panel are comparatively large and difficult to handle with one manipulator. The swarm robots can work in coordination and performs the desired task. Motion control of all manipulators is highly important. It can be achieved by mounting all the swarm manipulators on the platform of mobile robots. Each mobile robot shall have a manipulator arm for pick and place operations, an omnidirectional mobile robot is used, that functions autonomously. The aim of the present work is to design a serial manipulator of RRRP configuration that can handle the panel. Four serial manipulators mounted on the platform of mobile manipulator can hold the panel. In order to achieve the synchronized motion kinematic analysis of the manipulator is very important. The paper mainly focuses on the kinematic analysis of the manipulator. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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