Design and analysis of a new parallel mechanism with foldable moving platforms—coupled with its conceptual design in multi-pose tracking of PV modules

Abstract

In the work, a new concept of parallel mechanism(PM) with two foldable moving platforms, i.e., foldable PM, is proposed. A 4-DOF 2T1R foldable PM consists of two sub-PMs connected by one shared hybrid limb is designed and analyzed, each sub-PM of which possess 2T1R output motion. Only through control of the actuated joints of the foldable PM, without changing topology of the foldable PM itself, its two sub-moving platforms can reach respective 2T1R motion output. First, topological characteristics of the foldable PM are analyzed, including position and orientation characteristics (POC), degrees of freedom (DOF) etc. Second, symbolic forward and inverse position solutions, workspace and singular analysis are performed. Third, the dynamic equations and actuated force curves are established through the virtual work principle. Fourth, dimensional optimization is conducted with the maximum attitude angle as the objective function. Finally, the conceptual design of the foldable PM used for multi-pose tracking of photovoltaic (PV) modules for efficient energy absorption is elaborated. This work expands the concept, design, and application scope of reconfigurable or multi-mode PMs.