A Distribution Method of Driving Torque for a Novel 3UPS-RR Redundant Solar Tracker

Author:

Cui Hengchun1,Wu Jun1,Li Qi2

Affiliation:

1. State Key Laboratory of Tribology and Institute of Manufacturing Engineering; Department of Mechanical Engineering, Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Tsinghua University, Beijing 100084, China

2. Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology, Tianjin Institute of Aerospace Mechanical and Electrical Equipment, Tianjin 300301, China

Abstract

Abstract This paper proposes a novel two-axis solar tracker with a redundant parallel mechanism and investigates the distribution method of driving torque. In view of the difference between the singular configuration of the redundant parallel mechanisms and that of the corresponding non-redundant ones, an index related to the minimum singular value of the Jacobian matrix is used to indicate the position of the singular configuration relative to the boundaries of the required workspace. The driving torque and energy consumption can be optimized with this index. Based on the fact that the direction of driving torque is opposite to that of rotor in most of the running processes, a distribution method of driving torque with the minimum energy consumption for the redundant parallel solar tracker is proposed. The distribution method is compared with the minimum norm solution which is adopted by the conventional redundant parallel mechanism. And energy consumption can be significantly reduced by adopting this method. In addition, the workspace and energy consumption of the redundant solar tracker and its non-redundant counterpart are compared. The results show that the redundant solar tracker has a larger workspace and lower energy consumption.

Funder

National Natural Science Foundation of China

Publisher

ASME International

Subject

Mechanical Engineering

Reference23 articles.

Cited by 2 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Forward, Inverse Kinematics and Optimal Design of a Parallel Solar Tracker;2024 9th International Conference on Automation, Control and Robotics Engineering (CACRE);2024-07-18

2. Remaining Useful Life Prediction of Rolling Bearings Based on Multi-Scale Attention Residual Network;Entropy;2023-05-14

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