Hybrid Harvester 3-RPS Robotic Parallel Manipulator

Zhongxing Yang, Dan Zhang

Research output: Journal article publicationConference articleAcademic researchpeer-review

Abstract

This article presents the robotic structure and analysis of a hybrid energy harvester designed in the form of a reconfigurable 3-RPS parallel manipulator, which tracks and collects solar energy as a main function and also harvests energy from wind loads on the large solar panel. The reconfigurable design allows the harvester to lie flat on floor when destructive storms occur and then return to a working configuration after the storms. The workspace of the manipulator is determined by a minimum platform height algorithm that is developed to find all reachable positions that compose the workspace and also bring bending at root to least. The stiffness mapping of the harvester is significant in evaluating its capacity to take wind loads, which a transformation matrix is developed to convert to polar horizontal stiffness at end effector that is crucial to the intelligent control strategy in decision to enter lie-flat configuration.

Original languageEnglish
Article number012066
JournalIOP Conference Series: Materials Science and Engineering
Volume435
Issue number1
DOIs
Publication statusPublished - 5 Nov 2018
Externally publishedYes
Event2018 2nd International Conference on Artificial Intelligence Applications and Technologies, AIAAT 2018 - Shanghai, China
Duration: 8 Aug 201810 Aug 2018

ASJC Scopus subject areas

  • General Materials Science
  • General Engineering

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