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Stiffness Modeling of a Novel 2-DOF Solar Tracker with Consideration of Universal Joint Stiffness

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13016))

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Abstract

This paper deals with stiffness modeling of a novel parallel 2-DOF solar tracker with high rigidity and large workspace to track the sun. An analytical method to derive the stiffness matrix of universal joint in non-diagonal form is proposed. Considering the influence of universal joint stiffness on the deformation of solar tracker, the stiffness matrix of the solar tracker is derived with Matrix Structural Analysis method. The simulation on the stiffness of the solar tracker is carried out. A stiffness measuring mechanism is designed to measure the stiffness of the solar tracker and the experimental results are compared with the stiffness value from the stiffness model to validate the effectiveness of the modeling method.

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Author information

Authors and Affiliations

  1. The State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Yuyao Song & Jun Wu

  2. Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing, 100084, China

    Yuyao Song & Jun Wu

Authors
  1. Yuyao Song
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  2. Jun Wu
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Corresponding author

Correspondence to Jun Wu .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

Appendix

Appendix

See Table 2.

Table 2. Type of each element.
Full size table

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Song, Y., Wu, J. (2021). Stiffness Modeling of a Novel 2-DOF Solar Tracker with Consideration of Universal Joint Stiffness. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_12

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  • DOI: https://doi.org/10.1007/978-3-030-89092-6_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89091-9

  • Online ISBN: 978-3-030-89092-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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