Abstract
This paper deals with stiffness modeling of a novel parallel 2-DOF solar tracker with high rigidity and large workspace to track the sun. An analytical method to derive the stiffness matrix of universal joint in non-diagonal form is proposed. Considering the influence of universal joint stiffness on the deformation of solar tracker, the stiffness matrix of the solar tracker is derived with Matrix Structural Analysis method. The simulation on the stiffness of the solar tracker is carried out. A stiffness measuring mechanism is designed to measure the stiffness of the solar tracker and the experimental results are compared with the stiffness value from the stiffness model to validate the effectiveness of the modeling method.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Anatol, P., Damien, C., Philippe, W.: Stiffness analysis of over constrained parallel manipulator. Mech. Mach. Theory 44(5), 966–982 (2009)
Selcuk, E., Selim, D., Saban, U.: Effects of joint clearance on the dynamics of a partly compliant mechanism: numerical and experimental studies. Mech. Mach. Theory 88, 125–140 (2015)
Wu, J., Yu, G., Gao, Y., Wang, L.P.: Modal analysis of practical quartz resonators using finite element method. IEEE Trans. Ultrason. Ferroelectr. Freq. Control 57, 292–298 (2010)
Liu, Y., Nikolay, V., Yu, ZP.: Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy. Mech. Mach. Theory 44(4), 835–849 (2009)
Zhang, X., Zhang, X., Fu, W.N: Fast numerical method for computing resonant characteristics of electromagnetic devices based on finite-element method. IEEE Trans. Magn. 53, 1–4 (2017)
Liu, XJ., Bonev, I.A.: Orientation capability, error analysis, and dimensional optimization of two articulated tool heads with parallel kinematics. J. Manuf. Sci. Eng. Trans. ASME 130(1) (2008)
Gosselin, C.: Stiffness map** for parallel manipulator. IEEE Trans. Robot. Autom. 6(3), 377–382 (1990)
Li., W.M.: Rigidity calculation of axial preload taper roller bearings. Bearing 5, 1–3 (2003)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Appendix
Appendix
See Table 2.
Rights and permissions
Copyright information
© 2021 Springer Nature Switzerland AG
About this paper
Cite this paper
Song, Y., Wu, J. (2021). Stiffness Modeling of a Novel 2-DOF Solar Tracker with Consideration of Universal Joint Stiffness. In: Liu, XJ., Nie, Z., Yu, J., **e, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_12
Download citation
DOI: https://doi.org/10.1007/978-3-030-89092-6_12
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-89091-9
Online ISBN: 978-3-030-89092-6
eBook Packages: Computer ScienceComputer Science (R0)