A Robotic System Based on a Universal Joint Actuated by Two Cables Applied to the Orientation of Photovoltaic Panels

Universal joints are fundamental components in mechanical engineering and robotics, as they connect different parts of the system and transmit motion in multiple directions. Traditionally, universal joints have been passive, but in recent years, interest has grown in making them active to achieve greater control over movement. This research proposes and analyzes a new alternative for an active universal joint, involving a cable and a motor for each axis of the joint in a similar geometric arrangement for each joint variable, which allows its scalability without compromising its internal functionality. Mathematical analyses of the cable behavior and the direct kinematics of the proposed system are carried out. Finally, the practical functionality is evidenced through a prototype, demonstrating its usefulness in a two axis tracking application for photovoltaic generation systems. The results and conclusions describe its advantages and limitations, which can be explored in future studies.