Optimized design of a large-workspace 2-DOF parallel robot for solar tracking systems

被引：69

作者：

Cammarata, Alessandro ^{[1
]}

机构：

[1] Univ Catania, Dept Ind Engn, I-95125 Catania, Italy

来源：

MECHANISM AND MACHINE THEORY | 2015年 / 83卷

关键词：

Parallel robots; Constrained optimization; Solar tracking systems; SINGULARITY-FREE PATH; UNIVERSAL JOINTS; MANIPULATORS;

D O I：

10.1016/j.mechmachtheory.2014.09.012

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Solar tracking systems and heliostats often rely on serial mechanisms with one or two motorized axes. In this paper we propose a parallel kinematic machine of type U-2PUS optimized to have a large workspace able to follow the sun's apparent motion during the year. Some issues such as singularity avoidance and link/joint collisions are included inside a constrained optimization procedure to synthesize a mechanism able to operate at latitudes among 0 degrees and 50 degrees. Design considerations and vibration analysis are also discussed in the paper. Finally, an energy assessment, to evaluate system performances with respect to other solutions based on fixed solar panels, is provided. (C) 2014 Elsevier Ltd. All rights reserved.

引用

页码：175 / 186

页数：12

共 20 条

[1]

Angeles Jorge., 2007, Fundamentals of robotic mechanical systems theory, methods, and algorithms, VThird

[2]

Bauchau OA, 2011, SOLID MECH APPL, V176, P3, DOI 10.1007/978-94-007-0335-3

[3]

Cammarata A., 2005, P IDETC CIE 2005 SEP

[4] Kinetostatic and Inertial Conditioning of the McGill Schonflies-Motion Generator [J].