Improving the Efficiency of Solar Energy Generation Using Parallel Structure Mechanisms

Abstract

The purpose of this article is to improve the efficiency of solar power plants by changing the position of the solar panel depending on the position of the sun using parallel structure mechanisms, and to determine analytical dependencies between the position of the executive body (solar panel) and the lengths of the kinematic links of the hexapod mechanism for use in the control system.

Solar panels operate most efficiently when their surface is perpendicular to the sun’s rays. The greater the angle between the panel surface and sunlight direction, the greater the efficiency losses. Two-axis solar tracking systems satisfy the 90° requirement but are expensive, consume energy, and require large areas. Therefore, stationary structures are predominantly used as a compromise. Statistical data show that adjusting the tilt angle four times a year allows capturing 98–99% of the energy of a full tracking system. The article proposes using a hexapod-type parallel structure mechanism as the basis for a solar tracker. The mechanism consists of a movable actuator ABC hinged to the fixed element KNM via six single-movable kinematic links. By adjusting the lengths of these links, the required spatial orientation of the solar panel is achieved. The mechanism is built on a spatial truss, ensuring high structural rigidity and the ability to support large and heavy panels. The inverse kinematics problem was solved to derive control equations. The position of the moving coordinate system is described by three linear coordinates (x₀, y₀, z₀) and three Euler angles (φ, θ, ψ). Using coordinate transformation matrices, closed-form formulas for calculating all six kinematic link lengths (Aa, Bb, Cc, Dd, Ee, Ff) from the given panel position were derived.

Theoretical research confirms that a solar tracker based on a parallel structure mechanism can generate 30% more energy compared to systems with a fixed installation angle. The derived formulas uniquely determine the relationship between kinematic link lengths and the panel’s tilt angle and can be directly used in programming control algorithms for the proposed mechanism. The approach combines adequate energy efficiency with high structural rigidity and can serve as the basis for developing cost-effective solar tracking systems.