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First, the topological structure of the mechanism is designed based on the locomotion mode of inchworms. Combined with the requirements of PV panel cleaning tasks and the characteristics of cleaning methods, a compound motion mode integrating linear cleaning and rotational cleaning is adopted to determine the final structural configuration of the mechanism. Second, considering the relationship between the key parameters of the mechanism and the robot\u2019s cleaning repeatability as well as cleaning integrity, a comprehensive performance index is constructed. The genetic algorithm is introduced for parameter optimization. Simulation results show that the optimal solution occurs at the larger step length and the maximum unilateral width of the cleaning mechanism within the valid interval. Finally, a prototype was fabricated for experiments. The results demonstrate that the robot can maintain stable adsorption on inclined and undulating PV panels, and the actual cleaning path is consistent with the theoretical trajectory, verifying the effectiveness of the design and the accuracy of the theoretical analysis in this paper.<\/jats:p>","DOI":"10.1017\/s0263574726103658","type":"journal-article","created":{"date-parts":[[2026,7,8]],"date-time":"2026-07-08T04:18:07Z","timestamp":1783484287000},"page":"1534-1550","source":"Crossref","is-referenced-by-count":0,"title":["Design and parameter optimization of a mobile mechanism for a photovoltaic cleaning robot in a mountainous environment"],"prefix":"10.1017","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-8612-6574","authenticated-orcid":false,"given":"Di","family":"Zhang","sequence":"first","affiliation":[{"id":[{"id":"https:\/\/ror.org\/00ft6nj33","id-type":"ROR","asserted-by":"publisher"}],"name":"Shenyang Institute of Automation, Chinese Academy of Sciences"},{"name":"University of Chinese Academy of Sciences"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yifeng","family":"Song","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/00ft6nj33","id-type":"ROR","asserted-by":"publisher"}],"name":"Shenyang Institute of Automation, Chinese Academy of Sciences"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yong","family":"Chang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/00ft6nj33","id-type":"ROR","asserted-by":"publisher"}],"name":"Shenyang Institute of Automation, Chinese Academy of Sciences"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tianlong","family":"Wang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/00ft6nj33","id-type":"ROR","asserted-by":"publisher"}],"name":"Shenyang Institute of Automation, Chinese Academy of Sciences"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daqian","family":"Wang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/00ft6nj33","id-type":"ROR","asserted-by":"publisher"}],"name":"Shenyang Institute of Automation, Chinese Academy of Sciences"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fengren","family":"Jing","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/00ft6nj33","id-type":"ROR","asserted-by":"publisher"}],"name":"Shenyang Institute of Automation, Chinese Academy of Sciences"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fatao","family":"Qin","sequence":"additional","affiliation":[{"name":"Binzhou Institute of Technology, Weiqiao-UCAS Science and Technology Park"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2026,7,8]]},"reference":[{"key":"S0263574726103658_ref17","doi-asserted-by":"publisher","DOI":"10.1002\/rob.22402"},{"key":"S0263574726103658_ref21","doi-asserted-by":"publisher","DOI":"10.3390\/biomimetics9060319"},{"key":"S0263574726103658_ref32","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104585"},{"key":"S0263574726103658_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.solener.2024.112634"},{"key":"S0263574726103658_ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2024.105757"},{"key":"S0263574726103658_ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2020.102372"},{"key":"S0263574726103658_ref6","first-page":"1","article-title":"Effect of industrial dust deposition on photovoltaic module performance: Experimental measurements in the Tropical Region","volume":"2019","author":"Yotham","year":"2019","journal-title":"Int. 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