A heliostat based on a three degree-of-freedom parallel manipulator

Ashith Shyam, R. B.; Acharya, Mohit; Ghosal, A.

doi:10.1016/j.solener.2017.08.073

Title: A heliostat based on a three degree-of-freedom parallel manipulator

Full Record
Other Related Research

Authors:: Ashith Shyam, R. B.; Acharya, Mohit; Ghosal, A.

Publication Date:: 2017-11-01

Sponsoring Org.:: USDOE

OSTI Identifier:: 1549934

Resource Type:: Publisher's Accepted Manuscript

Journal Name:: Solar Energy

Additional Journal Information:: Journal Name: Solar Energy Journal Volume: 157 Journal Issue: C; Journal ID: ISSN 0038-092X

Publisher:: Elsevier

Country of Publication:: United States

Language:: English

Citation Formats


                    Ashith Shyam, R. B., Acharya, Mohit, and Ghosal, A.. A heliostat based on a three degree-of-freedom parallel manipulator.  United States: N. p., 2017. 
Web.  doi:10.1016/j.solener.2017.08.073.

Copy to clipboard


                    Ashith Shyam, R. B., Acharya, Mohit, & Ghosal, A.. A heliostat based on a three degree-of-freedom parallel manipulator.  United States.  https://doi.org/10.1016/j.solener.2017.08.073

Copy to clipboard


                    Ashith Shyam, R. B., Acharya, Mohit, and Ghosal, A.. Wed .  
"A heliostat based on a three degree-of-freedom parallel manipulator".  United States.  https://doi.org/10.1016/j.solener.2017.08.073.

Copy to clipboard


                    
@article{osti_1549934,

  title        = {A heliostat based on a three degree-of-freedom parallel manipulator},

  author       = {Ashith Shyam, R. B. and Acharya, Mohit and Ghosal, A.},

  abstractNote = {},

  doi          = {10.1016/j.solener.2017.08.073},

  journal      = {Solar Energy},

  number       = C,

  volume       = 157,

  place        = {United States},

  year         = {2017},

  month        = {11}

}

Copy to clipboard

Journal Article:

Free Publicly Available Full Text

Accepted Manuscript (Publisher)

Publisher's Version of Record
https://doi.org/10.1016/j.solener.2017.08.073

Other availability

Search WorldCat to find libraries that may hold this journal

Citation Metrics:

Cited by: 2 works

Citation information provided by
Web of Science

Save / Share:

Export Metadata

Save to My Library

Similar Records in DOE PAGES and OSTI.GOV collections:

On the kinematic design of spherical three-degree-of-freedom parallel manipulators

Journal Article Gosselin, C M ; Lavoie, E - International Journal of Robotics Research; (United States)

This article studies the kinematic design of different types of spherical three-degree-of-freedom parallel manipulators. The mechanical architectures presented have been introduced elsewhere. However, designs having at least one isotropic configuration are suggested here for the first time. Isotropic configurations are defined, in turn, as those configurations in which the Jacobian matrix, mapping the angular velocity vector of the effector into the joint velocities, is proportional to an orthogonal matrix. First, a review of the direct and inverse kinematics of spherical three-degree-of-freedom parallel manipulators is outlined, and a general form for the Jacobian matrix is given. Parallel manipulators with revolute ormore »« less
https://doi.org/10.1177/027836499301200406
A Flexure-Based Mechanism for Precision Adjustment of National Ignition Facility Target Shrouds in Three Rotational Degrees of Freedom

Journal Article Boehm, K. -J. ; Gibson, C. R. ; Hollaway, J. R. ; ... - Fusion Science and Technology

This study presents the design of a flexure-based mount allowing adjustment in three rotational degrees of freedom (DOFs) through high-precision set-screw actuators. The requirements of the application called for small but controlled angular adjustments for mounting a cantilevered beam. The proposed design is based on an array of parallel beams to provide sufficiently high stiffness in the translational directions while allowing angular adjustment through the actuators. A simplified physical model in combination with standard beam theory was applied to estimate the deflection profile and maximum stresses in the beams. A finite element model was built to calculate the stresses andmore »« less
Cited by 5
https://doi.org/10.13182/FST15-217

Full Text Available
Shape control of manipulators with hyper degrees of freedom

Journal Article Mochiyama, Hiromi ; Shimemura, Etsujiro ; Kobayashi, Hisato - International Journal of Robotics Research

This paper provides a theoretical framework for controlling a manipulator with hyper degrees of freedom (HDOF) . An HDOF manipulator has the capability to achieve various kinds of tasks. To make full use of its capability, shape control is proposed here; that is, not only the tip of a manipulator, but also its whole body is controlled. To formulate control objectives for shape control, the authors define a shape correspondence between an HDOF manipulator and a spatial curve that prescribes a desired shape. The shape correspondence is defined by using solutions of a nonlinear optimization problem termed the shape-inverse problem.more »« less
https://doi.org/10.1177/02783649922066411
End point position control of a single link, two-degree-of-freedom manipulator with joint compliance and actuator dynamics

Conference Forrest-Barlach, M G ; Babcock, S M ; Singh, H ; ...

One problem which limits the cycle time of typical industrial manipulators is the vibration which results if the modes of vibration of a manipulator with significant joint compliance are excited. In this paper the effects of joint compliance in a two-degree-of-freedom manipulator are modeled and a study of several possible controller structures is conducted for the problem of end point position control. Controller structures considered include independent joint control neglecting compliance and independent joint control including actuator dynamics and joint compliance. A nonlinear observer which reduces the number of state measurements required is developed. Simulation of various controllers is performedmore »« less
Traction drive seven degrees-of-freedom telerobot arm: A concept for manipulation in space

Conference Martin, H L ; Kuban, D P

This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. The design goals for the telerobot, a mechanical and control description, and technology areas that must be addressed for successful implementation will be presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance. Further development of this arm is in progress at Oak Ridge National Laboratory.

Similar Records