A Two-Degree-of-Freedom RSSR-SSR Manipulator for Sun-Tracking

被引：1

作者：

Muralidharan, Vimalesh ^{[1
]}

Bandyopadhyay, Sandipan ^{[1
]}

机构：

[1] Indian Inst Technol Madras, Dept Engn Design, Chennai 600036, Tamil Nadu, India

来源：

MACHINES, MECHANISM AND ROBOTICS | 2019年

关键词：

Sun-tracking mechanism; Tip-tilt platform; Parallel manipulator;

D O I：

10.1007/978-981-10-8597-0_12

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A two-degree-of-freedom RSSR-SSR manipulator is proposed for the sun-tracking application. A detailed study of its forward and inverse kinematic problems is presented. It is illustrated through an example that the requisite range of motion can be achieved for exact tracking at the chosen location without encountering singularities or violating the limits of commercially available spherical joints. Static analysis is also performed to show that the load is significantly distributed among the two limbs, thereby reducing the strength requirement on the foundations at base pivots.

引用

页码：135 / 147

页数：13

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