第20卷
第5期
2012年5月
文章编号
1004-924X(2012)05-104807
光学精密工程
Optics and Precision Engineering
太阳自动跟踪机构的设计和位姿分析
贺新升1*，高春甫1，王彬12，谢楚雄（1.浙江师范大学工学院，浙江金华321004； 2.兰州交通大学机电工程学院，甘肃兰州730070）
Vol.20No.5
May.2012
摘要：设计了一种新型三自由度并联跟踪机构，以使太阳能板全方位地跟踪太阳并最大限度地输出有效发电量。采用三角平台上的万向节使太阳能板的大部分重量传递到支架上，通过3条细钢丝绳的协调动作便太阳能板的姿态发生变化，达到跟踪机构驱动电机耗能小，输出有效发电量多的目的。利用坐标变换理论建立了该三自由度并联跟踪机构的位置正解方程，然后用牛顿选代法数值求解正解方程组；最后，依据空间投影理论对该并联跟踪机构的空间位姿进行实测分析，并对设计的跟踪机构与传统二轴跟踪机构进行驱动耗能对比实验。结果表明；本文建立的位置正解方程与实测结果的趋势基本相同，输出位姿空闻角α、β和距离：的平均误差分别为1.8%、2.6%、084%，满足跟踪机构的误差要求，设计的跟踪机构的耗电量约为传统二轴跟踪机构的25%。
关键调：太阳能板；太阳自动跟踪；并联机构；位置正解；牛额选代
中图分类号：TM615
文献标识码：A
doi;10.3788/OPE.20122005.1048
Design and positional posture analysis of parallel
sunauto-trackingmechanism
HE Xin-sheng'', GAO Chun-fu', WANG Binl-2, XIE Chu-xiong
(1.Collegeof Engineering,ZhejiangNormalUniversity,Jinhua 321004,China;
2. School of Mechanical and Electronics Engineering, Lanzhou Jiaotong Unitersity, Lanzhou 730070, China)
Correspondingauthor，E-mail:h.zs7909@126.com
Abstract: A new type of 3-DOF sun parallel tracker was designed to track the sun all-around and to maximize its effective output powers. By using the cardan joint on a triangular platform to transfer the most of the weights of solar panels to the stand and to change the positional posture of the solar panels in all direction through three thin steel ropes, the track mechanism could reduce the electrical power consumption of own motor and could generate more efficient powers. Firstly, the forward position e quations of the 3-DOF parallel tracker were established based on the theory of coordinate transforma tion. And then the forward position equations were solved by Newton's iterative method numerically. Finally, the space positional posture was measured and analyzed with the theory of the space parallel projection to verify the accuracy of the forward position equations. A driven energy experiment was performed to contrast the power consumption between the designed mechanism and a traditional two-axis tracker. The experimental results show that the established forward position equations and meas
收稿日期：2011-12-29；修订日期：2012-02-15.
基金项目：国家自然科学基金面上项目（No.51075371)；浙江省教育厅资助项目（No.Y201120857)；浙江省金华市科
技计划资助项目（No.2010-1-102)