Abstract
The impact of this project is two folds-the feasibility study of using 2 RPS (Revolute-Prismatic-Spherical) — 1S (Spherical) parallel robotic as solar tracking to propose for implementing at solar power plant and modelling the structural mechanisms with inverse kinematics formulate by using the Denavit-Hartenberg (DH) method to know the performances of mechanisms. The methodology implemented to model parallel robot 2-DOF (Degree of Freedom) are based on benchmarking of all available structure of solar tracking' examine of the geometry of mechanisms' implemented by DH method' evaluated on the performance of parallel robot modelling in term of workspaces and validation of modelling of mechanisms by using graphics MATLAB. The result of workspace showing the graphic display and numerical outcome of the mechanism indicated that the model of 2 DOF is used for the proposed structure and also able to appliance in solar farm.
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