Dynamic Modeling and Performance Evaluation for the Parallel Solar Tracking Mechanism of a Novel Dish Parabolic Concentrator

Abstract This paper focuses on studying and evaluating the dynamic performance of the improved 3-RPS(I3-RPS) parallel solar tracking mechanism (PSTM) for a novel dish parabolic concentrator (DPC). Based on calculating the sun\x91 position and kinematic analysis of the I3-RPS PSTM, we have deduced the mathematical expressions that characterize the relationship between the velocity and acceleration of the driving joint and the independent variables of the moving platform. Employing the principle of virtual work, the dynamic equation of the I3-RPS was derived, and the inertial matrix containing the acceleration term and the Coriolis force matrix containing the velocity term were separated. The motion parameters and driving force values calculated using MATLAB software are very close to the values simulated by ADAMS software, indicating that the established dynamic model is correct. Subsequently, the dynamic performances of the I3-RPS were evaluated using four performance indicators: dynamic dexterity index (DDI), global inertia coupling index (GICI), energy transfer efficiency index (ETEI), and driving force fluctuation index (DFFI). The experimental results demonstrate that the DDI of the whole PSTM during solar tracking is 0.44~0.575, remaining below 1 and exhibiting a uniform distribution. The maximum ETEI can reach up to 0.96. The DFFI is continuous without jumping. The GICI values range 0.435 to 0.785, and change symmetrically concerning βs=0. These findings suggest that the proposed I3-RPS PSTM exhibits excellent dynamic performance, making it suitable for solar tracking applications in the DPC.