【作者】 宋开峰；

【导师】 张顺心；

【作者基本信息】 河北工业大学 ， 机械设计及理论， 2004， 硕士

【摘要】 太阳能是一种具有开发潜能的能源，但目前太阳能的利用率不高，理论分析表明，采用跟踪技术可以提高37.7％的能量接受率，太阳跟踪装置成为国内外学者研究的热点。 本文首先对国内外现有的太阳跟踪装置的原理进行分析，结果表明这些装置普遍存在着刚度低、跟踪范围小、精度低等缺点，因此提出了一种新型的太阳跟踪装置，该装置采用三自由度并联球面机构。其次本文以球面三角学理论为数学基础，对三自由度并联球面机构进行了运动学分析，导出三自由度并联球面机构的位置反解和速度反解方程，得出机构的雅可比矩阵。再次对球面机构的性能进行研究，利用保角变换理论将球面机构工作空间在平面中表示，在分析串联球面机构可达工作空间的基础上，得出给定机构参数的并联球面机构的可达工作空间和可达工作空间面积性能图谱，得出对应于不同灵活度ε的灵巧工作空间和灵巧工作空间面积性能图谱，结论表明，在给定机构参数β₁，β₂的情况下，α₁，α₂越是靠近90°，其可达工作空间和灵巧工作空间面积越大；利用雅可比矩阵对机构进行奇异位形分析，得出几种特定机构参数的奇异位形。最后，选择机构参数α₁=90°，α₂=90°，β₁=60°，β₂=60°的球面机构，以天津市夏至日为例，应用虚拟样机技术，在仿真软件Adams中进行运动学仿真，得出各个电机的转角、角速度和角加速度的曲线，验证了机构的可行性，为该装置的后续研究提供了基础，为三自由度并联球面机构的研究提供资料。更多还原

【Abstract】 Solar energy is a kind of energy with the potential of development, but the current solar utilization is not efficiently. The theories analysis expresses, adopting the solar tracking can increase 37.7% the rate of the energy accepts, so a lot of domestic and international scholars investigative the device of solar tracker.Firstly, on the basis of the principle of domestic and international solar trackers, the result expresses that these device have the weakness of low rigidity, having the small scope of tracking and low accuracy. So, this paper presents a new two-axes solar tracker, which the device adopts spherical 3-DOF parallel mechanism. Secondly, based on spherical trigonometry theory, proceed the kinetics analysis to the spherical 3-DOF parallel mechanism, and given the position inverse solution, the velocity inverse solution equation and the Jacobian Matrix. Thirdly, study the mechanism character of the spherical 3-DOF parallel mechanism. Using the theory of Conformal Transformation, the planar figures of the workspaces are mapped. On the study of the spherical 3-DOF serial mechanism workspaces, we can give the reachable workspace, the atlases of reachable workspaces, the mobile workspace and the atlases of mobile workspace of the spherical 3-DOF parallel mechanism which given geometric parameters. From these atlases, we can see that the mechanical function is better when β1,β2 was given and α1, α2 tend 90°. Through analysis the Jacobian Matrix, we can give the singularity of the spherical 3-DOF parallel mechanism. Finally, select the geometric parameters as α1 =90°,α2 = 90°, β1 = 60°, β2 = 60°take the summer solstice day of Tianjin City as an example, and proceedkinetics simulation with Adams. Though simulation, give the angle, angular velocity, angularacceleration of every motor and Verify the possibility of the mechanism. It offered thefoundation for the follow-up research and the research data of the spherical 3-DOF parallelmechanism.更多还原