A Two-Degree-of-Freedom RSSR-SSR Manipulator for Sun-Tracking

A two-degree-of-freedom RSSR-SSR manipulator is proposed for the sun-tracking application. A detailed study of its forward and inverse kinematic problems is presented. It is illustrated through an example that the requisite range of motion can be achieved for exact tracking at the chosen location without encountering singularities or violating the limits of commercially available spherical joints. Static analysis is also performed to show that the load is significantly distributed among the two limbs, thereby reducing the strength requirement on the foundations at base pivots.