Optimized design of a large-workspace 2-DOF parallel robot for solar tracking systems

• Extension to PKMs of a serial robots related application as PV tracking system
• Complex design based on constrained optimization
• Singularity and collision avoidance
• Joint design solutions to obtain a large workspace
• Energy assessment

Solar tracking systems and heliostats often rely on serial mechanisms with one or two motorized axes. In this paper we propose a parallel kinematic machine of type U-2PUS optimized to have a large workspace able to follow the sun's apparent motion during the year. Some issues such as singularity avoidance and link/joint collisions are included inside a constrained optimization procedure to synthesize a mechanism able to operate at latitudes among 0° and 50°. Design considerations and vibration analysis are also discussed in the paper. Finally, an energy assessment, to evaluate system performances with respect to other solutions based on fixed solar panels, is provided.