Table of Contents
Journal of Industrial Engineering
Volume 2015, Article ID 349716, 10 pages
Research Article

Robust Design Optimization of a 4-UPS-S Parallel Manipulator for Orientation-Regulating Control System of Solar Gather Panels

1College of Equipment Manufacturing, Hebei University of Engineering, Handan 056038, China
2Department of Automotive, Mechanical and Manufacturing Engineering, University of Ontario Institute of Technology, Oshawa, ON, Canada L1H 7K4

Received 20 October 2014; Revised 6 January 2015; Accepted 29 January 2015

Academic Editor: C. K. Kwong

Copyright © 2015 Guohua Cui et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes a redundantly actuated parallel manipulator 4-UPS-S that is applicable for orientation adjustment in the gathering process of solar power. A thorough analysis involving the kinematic issues is performed. Inverse kinematic problems are solved in the close-loop. The Jacobian matrix and some performance indexes are analytically derived. The multiobjective optimization model is established, and the determinacy optimization is completed on the basis of previous research works. Six-Sigma robust analysis is performed on the basis of the determinacy optimal solution. Results show that 4-UPS-S does not satisfy the quality requirement. Therefore, it is necessary to implement Six-Sigma robust optimization, and select optimial solution of robustness to complete the nondeterminacy optimization. The research results show that the proposed methodology has a simple operation and high optimization efficiency. The methodology commodiously obtains robustness parallel manipulator that satisfies the quality requirement.