DESIGNING AND DEVELOPING SOLAR PHOTOVOLTAIC CLEANING ROBOT TO MAINTAIN GENERATED POWER PERFORMANCE
By Ignasius Kevin
11112005
BACHELOR’S DEGREE in
MECHANICAL ENGINEERING – MECHATRONICS CONCENTRATION FACULTY OF ENGINEERING AND INFORMATION TECHNOLOGY
SWISS GERMAN UNIVERSITY EduTown BSD City
Tangerang 15339 Indonesia
August 2016
Revision after Thesis Defense on 19th of July 2016
Ignasius Kevin STATEMENT BY THE AUTHOR
I hereby declare that this submission is my own work and to the best of my knowledge, it contains no material previously published or written by another person, nor material which to a substantial extent has been accepted for the award of any other degree or diploma at any educational institution, except where due acknowledgement is made in the thesis.
Ignasius Kevin
____________________________________________
Student Date
Approved by:
Erikson Ferry S Sinaga, ST, M.Kom
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Thesis Advisor Date
Cepi Mohammad Hanafi, SS.T,MT
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Thesis Co-Advisor
Date
Dr. Ir. Gembong Baskoro, M.Sc
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Dean
Date
Ignasius Kevin ABSTRACT
DESIGNING AND DEVELOPING SOLAR PHOTOVOLTAIC CLEANING ROBOT TO MAINTAIN GENERATED POWER
By Ignasius Kevin
Erikson Ferry S Sinaga, ST, M.Kom Cepi Mohammad Hanafi, SS.T, MT
SWISS GERMAN UNIVERISTY
The purpose of this thesis is to design and develop solar photovoltaic cleaning robot that is expected to maintain the performance of the solar photovoltaic. The parameters of performance will be sent to a website and smartphone application.
This thesis project is focusing on the mechanism of the robot and the performance of solar PV after it is cleaned by the robot. The signal reading by the sensors will be processed in microcontroller. This thesis studies about the mechanical design of the cleaning robot, the data transferring system, processing and receiving signal from microcontroller and also how significance the cleanliness of solar PV affected. The robot is working in automatic and manual mode, the data has been sent to the website and smartphone application, and the efficiency of solar panel is increasing after cleaning process.
Keywords: Photovoltaic, cleanliness, website, cleaning robot, microcontroller.
Ignasius Kevin
© Copyright 2016 by Ignasius Kevin All rights reserved
Ignasius Kevin DEDICATION
I dedicate this thesis to God that always bless me, to my family who always support and love me and also to all my friends and teacher, who help me to finish this thesis.
Ignasius Kevin ACKNOWLEDGEMENTS
I would like to thank God firstly for his kindness and blessing throughout this thesis, secondly I would like to thank to my father, my mother, my brother, and my sister who always support and encourage me.
I would like to thank my advisor, Erikson Ferry S Sinaga, ST, M.Kom and my co- advisor, Cepi Mohammad Hanafi, SS.T, MT for their advice and guidance to achieve the thesis objectives. I would like also to thank Mr. Fredy for his assistance and direction whenever I faced the problems.
Colleagues and friends will not be forgotten. Especially Kennan Jonathan, Jimmy Kurnia, Nur rizza Muhammad, Muhammad Kemal, Bryan Aditya, Prastha Delta, Ferdyanto Awandy, Albertus Rumawas, and other Mechatronics batch 2012 fellow students. I thank them for unforgotten memories of college life. Also to my high school friends who keep support and encourage me, I thank them. I would like to give my special thanks to Zefanya Widya Natasha Ali for her patience and encouragement whenever I fall apart.
Last but not least, thanks to SGU for all the opportunities to study mechatronics, experiencing internship local and abroad, and for this final assignment.
Ignasius Kevin TABLE OF CONTENTS
Page
STATEMENT BY THE AUTHOR ... 2
ABSTRACT ... 3
DEDICATION ... 5
TABLE OF CONTENTS ... 7
LIST OF FIGURES ... 12
LIST OF TABLES ... 15
CHAPTER 1 - INTRODUCTION ... 16
1.1 Background ... 16
1.2 Thesis Purpose ... 16
1.3 Thesis Scope ... 16
1.4 Thesis Limitations ... 17
1.5 Problems Identification ... 17
CHAPTER 2 - LITERATURE REVIEW ... 18
2.1 Introduction ... 18
2.2 Photovoltaic Cell ... 19
2.3 Photovoltaic Cleaning ... 25
2.4 Robotic Device... 26
2.2.1. Robot Design ... 27
2.2.1.1. PVCleaner Robot V1.0 ... 27
2.2.1.2. Autonomous Robotic Vacuum Cleaner ... 28
2.2.1.3. Solar Panel Cleaning Robotic Arm (SPRCA) ... 29
2.5 ACS712 ... 29
CHAPTER 3 – RESEARCH METHODS ... 31
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3.1 System Design Overview ... 31
3.2 System Breakdown Structure ... 33
3.3 Mechanical Design and Selection ... 34
3.3.1 Overview Design ... 34
3.3.2 Frame of Solar Panel Design ... 37
3.3.3 Pulley and Timing Belt Design ... 38
3.3.4 Gears ad Chain Design... 39
3.3.5 Shaft and Linear Bearing Design ... 40
3.3.6 Brush Design ... 40
3.3.7 Aluminium Profile 30x30 mm ... 41
3.3.8 L Profile ... 42
3.3.9 Ball Bearing NTN ... 42
3.3.10 Bearing Housing Design ... 43
3.3.11 Sheet Metal Design ... 43
3.3.12 Acrylic Cover Design ... 44
3.4 Electrical Design and Selection ... 44
3.4.1 Limit Switch... 44
3.4.2 Pull Up and Pull Down Resistor Circuit ... 45
3.4.3 Real Time Clock ... 45
3.4.4 Arduino Mega 2560 ... 46
3.4.5 Arduino Nano ATmega328... 47
3.4.6 Motor Driver L298N ... 48
3.4.7 Tsukasa DC Motor ... 49
3.4.8 Sayama DC Motor ... 49
3.4.9 ACS712 ... 50
Ignasius Kevin
3.4.10 Voltage Divider ... 50
3.4.11 ESP8266 ... 50
3.4.12 SD Card Module ... 51
3.4.13 Liquid Crystal Display ... 51
3.4.14 Keypad ... 52
3.4.15 PWM Charge Controller ... 52
3.4.16 Solar Cell ... 54
3.4.17 Battery 12 Volts ... 54
3.4.18 XL9006 Boost Converter and LM2956 Buck Converter ... 55
3.4.19 Electrical Wiring Diagram ... 56
3.5 Programming... 59
3.6 Thingspeak Website and Android Application ... 64
CHAPTER 4 – TEST AND RESULT ... 65
4.1 Mechanical Testing and Result ... 65
4.1.1 Frame of Solar Panel ... 65
4.1.2 Pulley and Timing Belt ... 66
4.1.3 Gear and Chain ... 67
4.1.4 Shaft and Linear Bearing ... 67
4.1.5 Brush ... 68
4.1.6 Aluminium Profile 30x30mm ... 68
4.1.7 L-Profile ... 69
4.1.8 Ball Bearing NTN ... 70
4.1.9 Bearing Housing ... 70
4.1.10 Sheet Metal ... 71
4.1.11 Acrylic Cover ... 71
Ignasius Kevin
4.2 Electrical Testing and Result ... 72
4.2.1 Limit Switch... 72
4.2.2 Real Time Clock ... 73
4.2.3 DC Motor ... 73
4.2.4 Motor Driver L298N ... 74
4.2.5 ACS712 ... 74
4.2.6 Voltage Divider ... 76
4.2.7 ESP8266 ... 77
4.2.8 SD Card Module ... 77
4.2.9 XL9006 and LM2596 ... 77
4.2.10 PWM Charge Controller ... 78
4.2.11 Solar Cell ... 78
4.2.12 Thingspeak Website and Android Application ... 80
4.3 System Testing and Result ... 80
4.3.1 Energy Consumption and Stored ... 80
Energy Consumed: ... 83
4.3.2 Cleanliness of Solar Panel Comparison ... 84
CHAPTER 5 – CONCLUSION AND RECOMMENDATION ... 86
5.1 Conclusion ... 86
5.2 Recommendation ... 86
GLOSSARY ... 87
REFERENCES ... 88
APPENDIX A – ELECTRICAL WIRING DIAGRAM AND SCHEMATIC ... 89
A.1 Arduino Mega 2560 Schematic ... 89
A.2 Arduino Nano 328 Schematic ... 90
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A.3 ESP 8266 Schematic ... 91
A.4 SD Card Schematic ... 92
APPENDIX B – DATASHEET ... 93
B.1 ACS 712 ... 93
B.2 Arduino Mega 2560 ... 102
B.3 Arduino Nano... 108
APPENDIX C – TECHNICAL DRAWING ... 111
APPENDIX D – PROGRAMMING ARDUINO ... 119
D.1 Cleaning System ... 119
D.2 Data Transferring System ... 127
APPENDIX E – BILL OF MATERIAL ... 134
CURRICULUM VITAE ... 135
