Paper Info
Title
Analysis of Constraint Singularities of a 2-DOF Spatial Parallel Mechanism.
Abstract
This paper considers the kinematic analysis of a 2 dof closed-loop chain for the night-sky observation known as the Canterbury tracker. Closed-loop mechanisms are characterized by a higher number of joints than dofs, so kinematic constraints act to make dependent their configurations. For some configurations of the joints, it is possible that one or more constraints become redundant, giving instantaneously extra dofs to the mechanism. Thus, conventional input-output singularities do not represent the unique possibility of having controllability issues. In this paper, the screw theory is exploited to determine singular configurations of the proposed trackers. According to the results of this analysis, the geometric parameters of the mechanism are chosen to make it suitable for solar tracking purpose, taking into account the existence of these singular configurations to avoid tracking failures.
Year
DOI
Venue
2017
10.1007/978-3-319-61276-8_4
ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS
Keywords
DocType
Volume
Concentrator photovoltaics,Screw theory,Constraint singularities,Solar energy
Conference
49
ISSN
Citations 
PageRank 
2211-0984
0
0.34
References 
Authors
0
2
Name
Order
Citations
PageRank
Stefano Mauro103.04
Gabriele Biondi200.34