Prototype of the Arm-Z Modular Solar Tracker

Zawidzka, Ela; Szklarski, Jacek; Kiński, Wojciech; Zawidzki, Machi

doi:10.1007/978-3-031-03502-9_28

Cited by 4 publications

(7 citation statements)

References 10 publications

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“…This means that each experiment could be realized in reality by very simple systems described in Refs. [39,40]. In such a case, the modules would not have to be quipped with individual motors and control units, but the motion could be transferred from one unit to another via simple gear system.…”

Section: Discussionmentioning

confidence: 99%

Simulation of simple movements of Arm-Z oblique swivel joint chain manipulator

Zawidzka¹,

Zawidzki²

2023

PAR

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Arm-Z is a concept of a hyper-redundant manipulator based on linearly joined sequence of congruent modules by oblique swivel joint mechanism. Each module has one degree of freedom only, namely a twist relative to the previous module in the sequence. Although the concept of this type of manipulator is relatively old and simple, its control is very difficult an nonintuitive, which results in a limited use in industrial practice. This paper presents a simple simulation of Arm-Z in Mathematica programming environment which demonstrates a few simple but potentially useful movements.

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Section: Discussionmentioning

confidence: 99%

Simulation of simple movements of Arm-Z oblique swivel joint chain manipulator

Zawidzka¹,

Zawidzki²

2023

PAR

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“…Prototyp modułowego systemu nadążania słonecznego (ang. solar tracker) w oparciu o Arm-Z został opisany w naszym poprzednim artykule [14]. Celem takiego urządzenia jest efektywne zbieranie energii słonecznej lub jako aktywna osłona przeciwsłoneczna.…”

Section: System Nadążania Słonecznegounclassified

Examples of Urban Furniture Based on Arm-Z System

Zawidzka,

Szklarski,

Kobaka

et al. 2024

PAR

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Arm-Z is a conceptual hyperredundant robotic manipulator composed on linearly joined number of identical modules. Each of them has one-degree-of-freedom (1-DOF) – the relative twist. Since modules are congruent, Arm-Z presents potential economical advantages and enhanced robustness. The modules can be mass produced and easily replaceable. The control of Arm-Z, however, is difficult and not intuitive. Therefore it most often requires the use of computational intelligence techniques. This article presents selected concepts for kinetic street furniture based on Arm-Z: a helical column of adjustable height, a sun tracking shade or solar energy harvesting device, bio-mimicing sculpture, sprinkler or fountain. All these ideas are based on low-tech approach. For this purpose, the initial unit in the chain is fixed to the solid foundation. For simplicity, the drive is applied directly to the first unit and transferred by the means of internal gears to the following modules. All of them are equipped with a set of cylindrical and bevel gears with straight teeth with involute profile (for connecting the modules).

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“…The prototype of the Arm-Z modular solar tracker has been described in our previous paper [12]. The purpose of such a device is to efficiently harvest solar energy or to serve as an active sun-shade.…”

Section: A Sun-tracking Shade/solar Energy Harvestermentioning

confidence: 99%

“…The sun tracking is formulated here as minimization of the angle between vectors VN and Vd. This optimization problem has been solved in Zawidzka et al [12] using dual annealing [13], [14]. Authors show there that Arm-Z with only four modules (three twisting and one fixed to the base) is capable of positioning its tip in almost all required directions.…”

Section: A Sun-tracking Shade/solar Energy Harvestermentioning

confidence: 99%

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Kinetic Street Furniture With Arm-Z

Zawidzka

Zawidzki

2022

WIT Transactions on the Built Environment

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Arm-Z is a concept of a hyper-redundant manipulator based on linearly joined sequence of congruent units. Each unit has only one degree of freedom (1-DOF), namely a twist relative to the previous unit in the sequence. Since each module is identical, Arm-Z has a potential of being economical and robust: the modules can be mass-produced and, in case of failure, easily replaced. However, the control of Arm-Z is nonintuitive and difficult, thus it usually requires application of computational intelligence methods. This paper presents a number of concepts for kinetic street furniture based on Arm-Z: a spiral column of adjustable height, a sun-tracking shade/solar energy harvester, bio-mimicry sculpture, kinetic sprinkler/fountain. The proposed concepts are low-tech in principle. Therefore in each case, the first module in the sequence is fastened to a solid base (ground). For simplicity, the drive is applied directly to the first module and transferred to subsequent units by internal gears. Each module is equipped with a set of cylindrical and bevel gears with straight teeth with involute profile (for connecting the modules).

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Prototype of the Arm-Z Modular Solar Tracker

Cited by 4 publications

References 10 publications

Simulation of simple movements of Arm-Z oblique swivel joint chain manipulator

Simulation of simple movements of Arm-Z oblique swivel joint chain manipulator

Examples of Urban Furniture Based on Arm-Z System

Kinetic Street Furniture With Arm-Z

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