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Robust Design Optimization of a 4-UPS-S Parallel Manipulator for Orientation-Regulating Control System of Solar Gather Panels


Affiliations
1 College of Equipment Manufacturing, Hebei University of Engineering, Handan 056038, China
2 Department of Automotive, Mechanical and Manufacturing Engineering, University of Ontario Institute of Technology, Oshawa, ON, L1H 7K4, Canada
 

This paper proposes a redundantly actuated parallel manipulator 4-UPS-S that is applicable for orientation adjustment in the gathering process of solar power. A thorough analysis involving the kinematic issues is performed. Inverse kinematic problems are solved in the close-loop. The Jacobian matrix and some performance indexes are analytically derived. The multiobjective optimization model is established, and the determinacy optimization is completed on the basis of previous research works. Six- Sigma robust analysis is performed on the basis of the determinacy optimal solution. Results show that 4-UPS-S does not satisfy the quality requirement. Therefore, it is necessary to implement Six-Sigma robust optimization, and select optimial solution of robustness to complete the nondeterminacy optimization. The research results show that the proposed methodology has a simple operation and high optimization efficiency. The methodology commodiously obtains robustness parallel manipulator that satisfies the quality requirement.
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  • Robust Design Optimization of a 4-UPS-S Parallel Manipulator for Orientation-Regulating Control System of Solar Gather Panels

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Authors

Guohua Cui
College of Equipment Manufacturing, Hebei University of Engineering, Handan 056038, China
Haidong Zhou
College of Equipment Manufacturing, Hebei University of Engineering, Handan 056038, China
Haiqiang Zhang
College of Equipment Manufacturing, Hebei University of Engineering, Handan 056038, China
Dan Zhang
Department of Automotive, Mechanical and Manufacturing Engineering, University of Ontario Institute of Technology, Oshawa, ON, L1H 7K4, Canada
Yanwei Zhang
College of Equipment Manufacturing, Hebei University of Engineering, Handan 056038, China

Abstract


This paper proposes a redundantly actuated parallel manipulator 4-UPS-S that is applicable for orientation adjustment in the gathering process of solar power. A thorough analysis involving the kinematic issues is performed. Inverse kinematic problems are solved in the close-loop. The Jacobian matrix and some performance indexes are analytically derived. The multiobjective optimization model is established, and the determinacy optimization is completed on the basis of previous research works. Six- Sigma robust analysis is performed on the basis of the determinacy optimal solution. Results show that 4-UPS-S does not satisfy the quality requirement. Therefore, it is necessary to implement Six-Sigma robust optimization, and select optimial solution of robustness to complete the nondeterminacy optimization. The research results show that the proposed methodology has a simple operation and high optimization efficiency. The methodology commodiously obtains robustness parallel manipulator that satisfies the quality requirement.