S1120104 Kinematics and Statics Analysis and Design of 3-RUU Spatial Parallel Mechanisms by Applying Kinematics Analysis of RUS Link Chain

Abstract

This paper describes kinematics and statics analysis and design of 3-RUU spatial parallel mechanism for heliostat which drives a reflection mirror to track sun and to reflect sun light to concentrator of thermosolar power plant. By applying kinematics analysis of RUS spatial link chain, simpler kinematics analysis of the mechanism is proposed and formulated. Statics analysis of the mechanism is also conducted and then principal dimensions are determined based on workspace analysis by taking account of driving torques.