并联式太阳跟踪机构设计与尺寸优化  

Design and Size Optimization of Parallel Sun Tracking Mechanism

作　　者：赵世豪[1] 杜小强[1] ZHAO Shihao;DU Xiaoqiang(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China)

机构地区：[1]浙江理工大学机械工程学院,浙江杭州310018

出　　处：《轻工机械》2023年第4期82-90,共9页Light Industry Machinery

基　　金：国家自然科学基金项目(31971798);浙江省151人才培养计划项目;浙江省高校中青年学科带头人培养项目;衢州市科技计划项目(2021K49);衢江区科技计划项目(QJ2021008)

摘　　要：为实现聚光光伏系统的高效跟踪作业,课题组提出了一种可用于太阳跟踪,且具有刚度高、解耦性好及结构简单特点的2-DOF U-RRU-RUS并联机构。首先,运用螺旋理论对并联机构的自由度进行了验证;其次,根据并联机构的几何约束条件构建了运动学逆解模型,并通过对速度雅克比矩阵进行分析可知该机构为解耦机构;然后,基于太阳方向角与机构欧拉角的映射关系,采用数值离散搜索法得到了并联机构的工作空间,并提出了一种工作空间评价指标;最后,基于聚光光伏系统对并联跟踪机构的性能要求,以机构的灵巧度和工作空间指标为尺寸优化的目标,采用遗传算法对主动杆、从动杆和动平台的尺寸进行多目标优化。结果表明优化后并联机构的灵巧度和工作空间都有所提升。虽然优化后并联机构的工作空间在高度角为0°~30°的区域并未完全覆盖太阳轨迹区域,但未覆盖的面积集中在一天中辐照度较低的区域。In order to realize efficient tracking operation of concentrating photovoltaic system,a 2-DOF U-RRU-RUS parallel mechanism with high stiffness,good decoupling and simple structure was proposed for sun tracking.Firstly,the degree of freedom of the parallel mechanism was verified by using the screw theory.Secondly,according to the geometric constraints of the parallel mechanism,the inverse kinematics model was constructed.The mechanism was found to be decoupled through the analysis of the velocity Jacobian matrix.Then,based on the mapping relationship between the sun direction angle and the Euler angle of the mechanism,the workspace of the parallel mechanism was obtained by using the numerical discrete search method,and a workspace evaluation index was proposed.Finally,based on the performance requirements of the concentrating photovoltaic system for the parallel tracking mechanism,with the dexterity and workspace index of the mechanism as the objective of size optimization,genetic algorithm was used to optimize the size of the driving rods,the driven rods and the moving platform.The results show that the dexterity and workspace of the optimized parallel mechanism are improved.Although the workspace of the optimized parallel mechanism does not completely cover the solar track area in the area with an altitude angle of 0°~30°,the uncovered area is concentrated in the area with low irradiance in a day.

关 键 词：聚光光伏 太阳跟踪机构 工作空间 数值离散搜索法 灵巧度 

分 类 号：TH112[机械工程—机械设计及理论]