Robust Design Optimization of a 4-UPS-S Parallel Manipulator for Orientation-Regulating Control System of Solar Gather Panels

Abstract

This paper proposes a redundantly actuated parallel manipulator 4-UPS-S that is applicable for orientation adjustment in the gathering process of solar power. A thorough analysis involving the kinematic issues is performed. Inverse kinematic problems are solved in the close-loop. The Jacobian matrix and some performance indexes are analytically derived. The multiobjective optimization model is established, and the determinacy optimization is completed on the basis of previous research works. Six-Sigma robust analysis is performed on the basis of the determinacy optimal solution. Results show that 4-UPS-S does not satisfy the quality requirement. Therefore, it is necessary to implement Six-Sigma robust optimization, and select optimial solution of robustness to complete the nondeterminacy optimization. The research results show that the proposed methodology has a simple operation and high optimization efficiency. The methodology commodiously obtains robustness parallel manipulator that satisfies the quality requirement.