No abstract

Dynamic modeling has been a crucial study in many areas of the engineering field. In this paper, we apply the Newton-Euler equation of motion to a two-DOF parallel mechanism solar tracker which is a close loop mechanism. The aim of this study is to show a simulation of the dynamical model with feedback control using a PD controller to orientate the solar panel perpendicular to the sun rays. The mechanism is modeled in the form of a system of algebraic differential equations. First, kinematic constraint equations were constructed in the form of algebraic equations to specify the dynamic interactions at joints. We use the Baumgarte stabilization method, a constraint violation method to eliminate computational error incurred by numerical approximation. Then, the dynamic equations of the system were formulated using the Newton-Euler equation of motion. To describe the translation and rotation motions, we apply Cartesian coordinates and Euler parameters. Simulation of driving the solar panel to reach the desired configuration is made, and the result shows that the PD controller provides good performance of the mechanism regardless of the complexity of the dynamic behavior of the mechanism.