Optimal Design of Tracking Mechanisms for a New Type Dish Solar ConcentratorLIU Fanmao

doi:10.3969/j.issn.1004-132X.2023.04.003

Abstract

Abstract: A general 3-RPS parallel mechanism was proposed herein， whose moving platforms and fixed platforms were similar arbitrary triangles， and the axis of rotation pair was perpendicular to the connecting line between the center and the vertex of the fixed platform. Then mechanism， a new dish solar concentrator was designed. The closed vector method was used to obtain the inverse kinematic position solution of the mechanism. Then the screw theory was used to analyze the speed mapping relationship between the input and output of the mechanism， and the Jacobian matrix of the mechanism was established. Taking global dexterity， global stiffness and global bearing capacity as optimization indexes， the optimal design of structure parameters of the mechanism were obtained by genetic algorithm， and the radius of the fixed platform of the mechanism was determined. The distribution of each performance index in the reachable workspace of the mechanism before and after optimization was quantitatively compared and analyzed by means of the performance map method， and the static verification analyses of the mechanism before and after optimization were carried out by ANSYS software. Results show that the dexterity， stiffness and bearing capacity of the new type dish solar tracking platform are improved in varying degrees when the fixed platform radius is as 860 mm.

Key words: solar tracking, parallel mechanism, performance evaluation index, dimensional optimization

摘要： 提出了一种通用3-RPS并联机构，其动平台、定平台为相似的任意三角形，且转动副轴线垂直于定平台中心与顶点的连线，基于该机构设计了一种新型碟式太阳能聚光器。采用封闭矢量法求得机构的运动学位置逆解，并以此为基础，运用螺旋理论分析机构输入与输出的速度映射关系，建立了机构的雅可比矩阵。以全域灵巧度、全域刚度性能及全域承载能力为优化指标，利用遗传算法对机构的结构参数进行优化设计，确定了定平台半径，借助性能图谱法定量地对比分析了优化前后各性能指标在可达工作空间内的分布情况，并采用ANSYS软件对优化前后机构进行静力学验证分析，结果表明：新型碟式太阳能跟踪装置的定平台半径为860 mm时，其灵巧度、刚度及承载能力等均有不同程度的提高。

关键词: 太阳能跟踪, 并联机构, 性能评价指标, 尺度优化

CLC Number:

TP112

LIAO Cancan, ZHANG Yuanyuan, MO Han. Optimal Design of Tracking Mechanisms for a New Type Dish Solar ConcentratorLIU Fanmao[J]. China Mechanical Engineering, 2023, 34(04): 395-403.

刘繁茂, 廖灿灿, 张原愿, 莫寒. 新型碟式太阳能聚光器跟踪机构优化设计[J]. 中国机械工程, 2023, 34(04): 395-403.

References

［1］KUMARK H， DAABO A M， KARMAKAR M K， et al. Solar Parabolic Dish Collector for Concentrated Solar Thermal Systems：a Review and Recommendations［J］. Environmental Science and Pollution Research， 2022， 29：32335-32367.
［2］郑涛，郑飞，芮喜，等. 三伸缩杆驱动的光伏板视日追踪系统设计与研究［J］. 工程科学与技术， 2020， 52（2）：171-179.
ZHENG Tao， ZHENG Fei， RUI Xi， et al. Design and Research of a Three-telescopic Pole-driven Photo-voltaic Panel Apparent Sun Tracking System［J］. Engineering Science and Technology， 2020， 52（2）：171-179.
［3］KANYOWA T， NYAKUJARA G V， NDALA E， et al. Performance Analysis of Scheffler Dish Type Solar Thermal Cooking System Cooking 6000 Meals Per Day［J］. Solar Energy， 2021， 218：563-570.
［4］LOPEZC W， STONE K W. Performance of the Southern California Edison Company Stirling Dish［R］. Washington DC：Office of Scientific and Technical Information， US Department of Energy， 2019.
［5］COVENTRYJ， ANDRAKA C. Dish Systems for CSP［J］. Solar Energy， 2017， 152：140-170.
［6］颜健，彭佑多，程自然，等. 直径17.70 m抛物碟式聚光装置的设计与研制［J］. 太阳能学报， 2018， 39（9）：2544-2552.
YAN Jian， PENG Youduo， CHENG Ziran， et al. Design and Development of a 17. 70 m Diameter Parabolic Dish Type Concentrator［J］. Journal of Solar Energy， 2018， 39（9）：2544-2552.
［7］JIAN Y， PENG Y D， LIU Y X. An Optical-mechanical Integrated Modeling Method of Solar Dish Concentrator System for Optical Performance Analysis under Service Load［J］. Energy， 2022， 261：125283.
［8］于振洋，吴军，张彬彬. 一种并联式太阳能聚光器二轴跟踪机构能量消耗［J］. 清华大学学报（自然科学版）， 2019， 59（4）：284-290.
YU Zhenyang， WU Jun， ZHANG Binbin. EnergyConsumption of a Parallel Solar Concentrator Two-axis Tracking Mechanism［J］. Journal of Tsinghua University（Natural Science Edition）， 2019， 59（4）：284-290.
［9］WU J， ZHANG B， WANG L. Optimum Design and Performance Comparison of a Redundantly Actuated Solar Tracker and Its Nonredundant Counterpart［J］. Solar Energy， 2016， 127：36-47.
［10］ZHENG T， ZHENG F， RUI X， et al. Analysis of a Three-extensible-rod Tracker Based on 3-RPS Parallel Manipulator for Space Large Deployable Paraboloid Structure with Power and Communication Integration［J］. Acta Astronautica， 2020， 169：1-22.
［11］SHYAM R， ACHARYA M， GHOSAL A. A Heliostat Based on a Three Degree-of-freedom Parallel Manipulator［J］. Solar Energy， 2017， 157：672-686.
［12］张淑珍，毕彦峰. 新型并联太阳跟踪装置的动力学分析［J］. 机械科学与技术， 2020， 39（1）：35-40.
ZHANG Shuzhen， BI Yanfeng. Dynamics Analysis of a New Parallel Solar Tracking Device［J］. Mechanical Science and Technology， 2020， 39（1）：35-40.
［13］ZHENG T， ZHENG F， RUI X， et al. A Novel Ultralight Dish System Based on a Three-extensible-rod Solar Tracker［J］. Solar Energy， 2019， 193：335-359.
［14］李林，丁健，孟庆平，等. 一种飞船用并联式太阳电池阵指向机构设计与分析［J］. 载人航天， 2018， 24（2）：212-217.
LI Lin， DING Jian， MENG Qingping， et al. Design and Analysis of a Parallel Solar Array Pointing Mechanism for Spacecraft［J］. Human Spaceflight， 2018， 24（2）：212-217.
［15］王一熙，沈惠平，陈谱，等. 基于运动学、刚度和动力学性能的并联机构有序递进三级优化设计及其应用［J］. 中国机械工程， 2022， 33（13）：1560-1575.
WANG Yixi， SHEN Huiping， CHEN Pu， et al. Orderly Progressive Three-stage Optimal Design of Parallel Mechanism Based on Kinematic， Stiffness and Dynamics Performance and Its Application［J］. China Mechanical Engineering， 2022， 33（13）：1560-1575.
［16］周亚杰，李仕华，徐奇，等. 3-PUS-PU柔顺并联机构运动学分析与优化设计［J］. 农业机械学报， 2022， 53（9）：417-424.
ZHOU Yajie， LI Shihua， XU Qi， et al. Kinematic Analysis and Optimal Design of 3-PUS-PU Flexible Parallel Mechanism［J］. Journal of Agricultural Machinery， 2022， 53（9）：417-424.
［17］梁栋，梁正宇，畅博彦，等. 多臂机提综臂辅助旋铆并联机器人优化设计［J］. 工程设计学报， 2022， 29（1）：28-40.
LIANG Dong， LIANG Zhengyu， CHANG Boyan， et al. Optimization of a Dobby-assisted Heald Arm Parallel Riveting Robot［J］. Journal of Engineering Design， 2022， 29（1）：28-40.
［18］陈文斌，张宇霖，付豪，等. 基于3-RRR非对称球面并联机构的假肢肩关节机构优化设计［J］. 中国科学：技术科学， 2022， 52（9）：1434-1446.
CHEN Wenbin， ZHANG Yulin， FU Hao， et al. Optimal Design of Prosthetic Shoulder Joint Mechanism Based on 3-RRR Asymmetric Spherical Parallel Mechanism［J］. China Science：Technical Science， 2022， 52（9）：1434-1446.
［19］TIAN H， WANG C， MA H， et al. Kinematic Analysis and Workspace Investigation of Novel 3-RPS/（H）Metamorphic Parallel Mechanism［J］. Journal of Mechanisms and Robotics， 2023， 15（4）：041008.
［20］SONG Z， JIANG S， CHEN B， et al. Analysis of Dynamic Modeling and Solution of 3-RPS Parallel Mechanism Based on Conformal Geometric Algebra［J］. Meccanica， 2022， 57（6）：1443-1455.
［21］LI C， WANG N， CHEN K， et al. Prescribed Flexible Orientation Workspace and Performance Comparison of Non-redundant 3-DOF Planar Parallel Mechanisms［J］. Mechanism and Machine Theory， 2022， 168：104602.
［22］赵铁石，赵延治，边辉，等. 空间并联机构连续刚度非线性映射［J］. 机械工程学报， 2008， 44（8）：20-25.
ZHAO Tieshi， ZHAO Yanzhi， BIAN Hui， et al. Nonlinear Mapping of Continuous Stiffness of Spatially Parallel Mechanisms［J］. Journal of Mechanical Engineering， 2008， 44（8）：20-25.
［23］El-KHASAWNEH B S， FERREIRA P M. Computation of Stiffness and Stiffness Bounds for Parallel Link Manipulators［J］. International Journal of Machine Tools and Manufacture， 1999， 39（2）：321-342.
［24］谢志江，程清，丁军，等. 双支链六自由度并联机构尺度设计与性能分析［J］. 中国机械工程， 2022， 33（14）：1680-1690.
XIE Zhijiang， CHENG Qing， DING Jun， et al. Scaling Design and Performance Analysis of a Six-degree-of-freedom Parallel Mechanism with a Double-branch Chain［J］. China Mechanical Engineering， 2022， 33（14）：1680-1690.
［25］邱雪松，杨龙，侯雨雷，等. 新型大工作空间仿生被动球面铰链构型及工作空间分析［J］. 中国机械工程， 2015， 26（3）：354-360.
QIU Xuesong， YANG Long， HOU Yulei， et al. New Large Workspace Bionic Passive Spherical Hinge Configuration and Workspace Analysis［J］. China Mechanical Engineering， 2015， 26（3）：354-360.

[1]	LI Meng-Lei, GU Yo-Qin, ZHANG Hua-Liang, LIU Li-Qin, DU Juan, WEN Chu-Hua, LAN Guo-Sheng. Parallel Mechanism Structure Optimization Design Based on Multi-objective Differential Evolution Algorithm [J]. J4, 201016, 21(16): 1915-1920.
[2]	LU Kai-Jiang, SHI Dun-Beng, ZHANG Feng-Chao. Dynamics Optimization Design of Planar 3-DOF Parallel Mechanism [J]. J4, 201016, 21(16): 1926-1931.
[3]	DONG Chenglin, CAI Longqi, LI Yi, LU Tong, ZHANG Luke. Isotropy Design and Vibration Reduction of a Three-dimensional Dynamics Vibration Absorber Based on Parallel Mechanisms [J]. China Mechanical Engineering, 2023, 34(03): 307-313.
[4]	WANG Manxin, LI Lanbin, LI Zhengliang, LIU Haitao, HUANG Tian. Topological Structure Synthesis and Optimization of 1T2R Parallel Mechanisms [J]. China Mechanical Engineering, 2022, 33(20): 2395-2402.
[5]	WANG Yixi, SHEN Huiping, CHEN Pu, WU Guanglei. Three-level Orderly Proceeding Optimization Design and Its Applications for Parallel Mechanisms Based on Kinematics，Stiffness and Dynamics [J]. China Mechanical Engineering, 2022, 33(13): 1560-1575,1621.
[6]	ZHU Yaguang, ZHU Jianwei, LI Ruyue, SONG Zhipeng. Neuromuscular Architecture Based Compliance Control of Bionic Parallel Torsos [J]. China Mechanical Engineering, 2022, 33(13): 1576-1585,1637.
[7]	ZHANG Yanbin, WANG Keming, LU Fenglin, WEI Xuemin, WANG Kefeng. Type Synthesis of Uncoupled Two-rotational Parallel Mechanism with One Pure Constraint Branch [J]. China Mechanical Engineering, 2022, 33(01): 54-61.
[8]	ZHANG Ying, SUN Hao, MA Shuaishuai. Design of a Kind of Multi-dimensional Attitude Adjustment and Vibration Isolation Platform Based on 4-UPS/CPC Parallel Mechanisms#br# [J]. China Mechanical Engineering, 2021, 32(13): 1513-1522,1529.
[9]	GONG Junshan;FANG Yuefa;JIN Xiaodong. Design and Research of Multifunctional Dexterous Hands Based on Parallel Finger Structure [J]. China Mechanical Engineering, 2020, 31(23): 2837-2846.
[10]	WANG Yixi1;WU Guanglei2;SHEN Huiping1;LI Jiayu1;MENG Qingmei1;LI Ju1;DENG Jiaming1. Stiffness Modeling and Analysis of Semi-symmetrical Three-translation Delta-CU Parallel Mechanism [J]. China Mechanical Engineering, 2020, 31(17): 2050-2058.
[11]	SHEN Huiping, XU Ke, YANG Tingli. A Novel Forward Position Kinematics Modelling Principle for Mechanisms Based on Ordered Solutions for SOC Units and Its Two Solving Methods [J]. China Mechanical Engineering, 2020, 31(14): 1647-1658.
[12]	LIU Hongyi, FAN Rui, GUO Jiangzhen, ZHANG Wei, ZHAO Qinzhi, CHEN Wuyi. Multi-axis Loading Device for Reliability Tests of CNC Machine Tools [J]. China Mechanical Engineering, 2020, 31(13): 1606-1612.
[13]	LI Yongquan1,2;WU Pengtao1,2;ZHANG Yang1,2 ;ZHANG Lijie2,3. Dynamics Parameter Identification and Control of a Spherical 2-DOF Redundant Driven Parallel Robot System [J]. China Mechanical Engineering, 2019, 30(16): 1967-1975.
[14]	ZENG Daxing;FAN Mingzhou;ZHANG Qingwu;WANG Juanjuan;YANG Yandong;HOU Yulei. A Method for Analyzing Error Characteristics of Lower-mobility Parallel Mechanisms [J]. China Mechanical Engineering, 2019, 30(16): 1982-1988,2002.
[15]	ZHANG Yanbin1，2，3;JING Xianling1;HAN Jianhai1，2;CHEN Zihao1. Design and Analysis of a Novel RR-RURU Ankle Rehabilitation Robot Mechanism [J]. China Mechanical Engineering, 2019, 30(14): 1734-1741.