However, the dynamic loads generated by the SPCR during its movement on the panel surface can lead to problems that directly impact the lifespan and performance of the PV panels. Dynamic or static forces applied to the panels may induce microcracks inside the silicon cells [7] and cause deformation [8]. Consequently, panels degrade at a rate of 0.8-1.1% per year, resulting in a 20% decrease in photovoltaic efficiency over twenty years [9]. Moreover, the dynamic forces produced by the SPCR during operation not only affect the lifetime of PV panels but also impact mounting frames. For structurally unstable trusses, the joints are vulnerable to failure when subjected to continuous dynamic forces, which not only affects operating costs but also poses risks to cleaning and maintenance workers. Nevertheless, the impact of SPCR on PV panels has received limited research attention. An overview of previous investigations is presented in Table 1 for comparison. To address the aforementioned problems, this study proposes the design of a multi-suspension unit supporting track-wheeled systems that are equipped with SPCRs to minimize the vibration caused by the motion of the SPCR on PV panels. The structure of the multi-suspension unit is inspired by a tank track suspension [14] with adjustable spring travel. It is important to note that the multi-suspension unit serves as a supplementary component to the existing track-wheeled system, rather than requiring a complete redesign. Relevant calculations are performed to determine the parameters of the single suspension unit, including the length of the links, the position of the joints, and the spring component's parameters, which are then replicated for the others. The curved profile of the deformed PV panel, serving as the initial condition for the design, is determined through simulation using the Finite Element Method (FEM) in ANSYS. To ensure flexibility with different SPCRs and PV arrays, the design process is represented by equations with variable parameters that depend on conditions such as the type of PV panels, the mounting space of the track-wheeled system, the mass of the SPCR, and the PV array structure. Finally, an experimental system is set up to evaluate the effectiveness of the proposed design in terms of vibration and deformation of the PV panels before and after installing the multi-suspension \begin{table}
\begin{tabular}{p{113.8 pt} p{113.8 pt} p{113.8 pt}} \hline \hline
**Study** & **References** & **Summary of Main Content** \\ \hline PV module vibration by robotic cleaning & [10] & The article only surveys and evaluates the effects of robots on the vibration of PV panels. The robot tested in the study is a scanner type, which moves on a frame instead of the PV panel surface. Therefore, the impact of the robot in the study does not show a significant direct effect on the PV panels. & \\ Autonomous robot for cleaning photovoltaic panels in desert zones & [11] & The article contributes to the design process for SPCR, however, the author only mentions the tilt angle factor of PV panels. The influencing factors of SPCR on PV panels are not considered. & \\ Research Impact of Solar Panel & & This article presents the influence of SPCR volume on PV panels. However, the study only considers the static case of SPCR and does not mention methods to resolve that effect. & \\ Research on Adhesive & & The article mentions the relationship between the properties of PV panels and SPCR, specifically the sliding phenomenon when SPCR moves on an inclined surface. The article also provides methods to solve the problem. However, the effects of SPCR on PV panels have not been mentioned. & \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Summary of previous studies. unit. The scenarios deployed include common movements of the SPCR on the PV panel during operation.