Dynamic Modelling of an Orientable Solar Panel System as a 2-DOF Manipulator


Authors

DOI:

https://doi.org/10.22517/23447214.20641

Keywords:

OSPS, manipulator dynamics, 2R open-loop

Abstract

Lagrange principle is used to derive the dynamic equation of an Orientable Solar Panel System-OSPS. Prior to the dynamic formulation, the OSPS kinematic analysis was eased by considering the system as a 2 degrees-of-freedom open-loop serial manipulator with perpendicular revolute joints. Denavit-Hartenberg parameters let finding the transformation matrix to relate the solar panel with the fixed element was stated. Then, existing formulation about dynamics for serial manipulators was adapted to the OSPS. The explicit dynamic model was used to build a Simunlink block. Another plant was created in SimMechanics. Then, performance of both plants when using the same PID controller were compared for a typical movement of the OSPS system. Results showed agreement for both cases, suggesting that the dynamic model is suitable for further simulations and implementation.

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Author Biographies

Javier Roldán Mckinley, Universidad del Atlántico

Grupo DIMER

Profesor Asociado

Programa de Ingeniería Mecánica

Andrés Fernández Pizarro, GSP Tubos 360

Departamento de Mantenimiento

Ingeniero de Mantenimiento Mecánico

Jaison Beltrán González, Navarro Tovar SAS

Departamento de Producción

Ingeniero de Operaciones

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Published

2019-06-30

How to Cite

Roldán Mckinley, J., Fernández Pizarro, A., & Beltrán González, J. (2019). Dynamic Modelling of an Orientable Solar Panel System as a 2-DOF Manipulator. Scientia Et Technica, 24(2), 212–217. https://doi.org/10.22517/23447214.20641

Issue

Vol. 24 No. 2 (2019)

Section

Mecánica

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