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The invention pertains to a big-angle intelligent photo voltaic tracker, which features a transferring platform and a fixed platform, and a primary branch chain I, a second department chain II, a 3rd department chain III, and a fourth branch chain are put in between the transferring platform and the fixed platform. IV, the first branch I and the third branch III have the identical structure and are symmetrically organized, and the second department II and the fourth branch IV have the same structure and are symmetrically arranged; the first branch I consists of the primary connecting rod, and the primary connecting rod The upper end of the rod is linked with the transferring platform via the ball pair, the lower finish of the first connecting rod is related with the primary Hooke hinge, and the first Hooke hinge is related with the mounted platform by the primary connecting block via the primary shifting pair; the second branch chain II Including the second connecting rod, the upper end of the second connecting rod is related with the moving platform through the second Hooke hinge, the lower finish of the second connecting rod is related with the second connecting block by means of the rotating pair, and the second connecting block and the fastened platform are moved by the second Secondary connection.

The 4 branch chains of the current invention form an area parallel closed-loop construction with the transferring platform and the mounted platform, which may understand two-dimensional translation and two-dimensional rotational motion in house. 本发明属于并联机器人领域，特别涉及一种应用于定位、气象、雷达等环境下能够实现精确跟踪的四自由度单平台大转角智能太阳追踪器。 The invention belongs to the sphere of parallel robots, and specifically relates to a four-diploma-of-freedom single-platform large-rotation-angle intelligent sun iTagPro Tracker that can realize exact tracking in environments reminiscent of positioning, meteorology, and radar. 并联机构通常由动平台、静平台及两平台之间的若干支链组成，具有刚度大、速度快、精度高的优点，在工业机器人、运动模拟器、并联机床等领域得到广泛应用。

近些年，国外已将陆续将部分机构构型应用于工业生产中（如:delta机构），而国内则较少，而且很少应用在生产生活中。 The parallel mechanism is usually composed of a dynamic platform, a static platform and several branch chains between the 2 platforms. It has some great benefits of high rigidity, quick pace and excessive precision. It is extensively used in industrial robots, motion simulators, parallel machine tools and other fields. Lately, foreign nations have successively utilized some mechanism configurations to industrial production (corresponding to: delta mechanism), whereas there are fewer domestic ones, and they are hardly ever used in manufacturing and life. 在运动模拟器、姿态调平、太阳能追踪以及并联机床等领域，通常需要实现大位移、大转角，实现较大工作空间范围内的运动。

Within the fields of motion simulators, perspective leveling, solar tracking, and parallel machine tools, it is often mandatory to realize large displacements, large rotation angles, and motions inside a big working house. 国内太阳能发电普遍采用固定式太阳能电池安装方式，尽管这种安装方式结构简单、成本较低，但是无法精确跟踪太阳位置，光能转换效率较低。 现有研究中，也存在部分运动型太阳能机构，单轴或双轴等多为串联机构精度不高。 其中双轴的跟踪精度相对较高，太阳板能达到的转换效率相对较大，但遇到恶劣天气难以保证装置的安全性。