TY - GEN
T1 - Design of 3-RPS parallel robot for high tracking accuracy
AU - Bibo-Pérez, César J.
AU - Carrillo-Benhumea, Gabriel
AU - Cruz-Rumbo, César J.
AU - Sánchez-Cid, Lucio E.
AU - Flores-Hernández, Diego A.
AU - Luviano-Juárez, Alberto
N1 - Publisher Copyright:
© 2022 Author(s).
PY - 2022/9/2
Y1 - 2022/9/2
N2 - Solar Tracking Systems (STS) increase the performance of Photovoltaic and Concentrated Photovoltaic Technology. These systems are usually designed in open kinematic chain. However, this configuration may present a low load capacity and high alignment errors, due to the high torsional stresses concentered in the joints and the high deformations in the links. An alternative configuration was developed, designing a parallel robot with three degrees of freedom in Revolute-Prismatic-Spherical (3-RPS) configuration, allowing to follow the solar path with a maximum tracking error of ± 0.5°. The system was developed with a mechatronic approach, increasing the overall system performance. The tracker was validated through multi-body simulations, ensuring that the system has a low tracking error and a minimal energy consumption. A comparison was made between two control strategies, a PID controller with a tracking error of 0.0031°, and GPI controller with an error of 0.0039°. Finally, an analysis of the energy balance was carried out, considering a commercial CPV module, it was determined that the system requires 0.539% of the energy generated for the tracking action. The results show the potential to develop STS in closed kinematic chain to improve the performance of solar tracking technology.
AB - Solar Tracking Systems (STS) increase the performance of Photovoltaic and Concentrated Photovoltaic Technology. These systems are usually designed in open kinematic chain. However, this configuration may present a low load capacity and high alignment errors, due to the high torsional stresses concentered in the joints and the high deformations in the links. An alternative configuration was developed, designing a parallel robot with three degrees of freedom in Revolute-Prismatic-Spherical (3-RPS) configuration, allowing to follow the solar path with a maximum tracking error of ± 0.5°. The system was developed with a mechatronic approach, increasing the overall system performance. The tracker was validated through multi-body simulations, ensuring that the system has a low tracking error and a minimal energy consumption. A comparison was made between two control strategies, a PID controller with a tracking error of 0.0031°, and GPI controller with an error of 0.0039°. Finally, an analysis of the energy balance was carried out, considering a commercial CPV module, it was determined that the system requires 0.539% of the energy generated for the tracking action. The results show the potential to develop STS in closed kinematic chain to improve the performance of solar tracking technology.
UR - http://www.scopus.com/inward/record.url?scp=85138284485&partnerID=8YFLogxK
U2 - 10.1063/5.0101825
DO - 10.1063/5.0101825
M3 - Contribución a la conferencia
AN - SCOPUS:85138284485
T3 - AIP Conference Proceedings
BT - 17th International Conference on Concentrator Photovoltaic Systems, CPV 2021
A2 - Dominguez, Cesar
A2 - Wiesenfarth, Maike
A2 - Nishioka, Kensuke
PB - American Institute of Physics Inc.
T2 - 17th International Conference on Concentrator Photovoltaic Systems, CPV 2021
Y2 - 12 April 2021 through 14 April 2021
ER -