论文部分内容阅读
介绍太阳能跟踪支架的结构组成和控制方法。针对目前高倍聚光太阳能跟踪支架单用时控的方法跟踪精度不够的问题,提出用机器人运动的分析方法来分析支架运动的新思路。通过D-H方法建立运动学无安装误差模型及带安装误差模型,据此分析支架跟踪过程中误差产生的原因和安装误差对支架跟踪产生的影响。进行逆运动学求解并提出补偿方法,最后通过实例验证了该思路的正确性。
Describe the structure and control method of solar tracking bracket. Aiming at the problem of insufficient track accuracy of the high-power concentrating solar tracking stent single time-controlled method, a new idea of analyzing the movement of the stent with robot motion analysis is proposed. The kinematic error-free model and the model with error of installation were established by D-H method. Based on this, the causes of errors in the tracking process and the influence of installation error on the stent tracking were analyzed. The inverse kinematics solution is proposed and the compensation method is proposed. Finally, the correctness of the idea is verified by an example.