Hybrid Harvester 3-RPS Robotic Parallel Manipulator

2018 2nd International Conference on Artificial Intelligence Applications and Technologies

计算机科学

Yang, Zhongxing^1 ; Zhang, Dan^1

Department of Mechanical Engineering, Lassonde School of Engineering, York University, Toronto, Canada^1

关键词: Horizontal stiffness;    Hybrid energy harvesters;    Intelligent control strategies;    Parallel manipulators;    Reconfigurable designs;    Robotic structures;    Stiffness mapping;    Transformation matrices;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/435/1/012066/pdf
DOI  :  10.1088/1757-899X/435/1/012066

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

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.