中文摘要：

针对当前太阳能发电中使用的两轴太阳跟踪装置成本高、效率低、难以普及的问题，提出了一种低成本的新型并联机构的太阳跟踪装置。该装置使用了新型并联机构作为太阳能电池板的搭载平台，6自由度的位姿变化可以获得更高的跟踪精度。采用了通过将太阳能电池板重心与支架上的平台中心的牛眼轮固联，以牛眼轮做支点，牵引电池板边缘的引线改变太阳能电池板位姿的方法，所需力矩极小，可以降低跟踪能耗，获得更多的有效电量输出。实验结果表明，该装置具有跟踪精度高、驱动能耗低等优点；在同等条件下，该装置与典型两轴太阳跟踪装置相比其电机驱动能耗可以降低70％以上。

英文摘要：

In order to solve the problem of two-axis solar tracker with high cost, low efficiency and difficult to spread, a new parallel mechanism of low-cost solar automatic tracker was proposed. The new parallel mechanism with solar panels was used as a platform, the changes of 6 DOF position and orientation could be acquired higher tracking accuracy. The gravity center of solar panels and platform center with sup porting plate of the universal wheel can be solid together and the universal wheel as pivot. The edge line with pulling solar panels can change the position and posture, and also the required torque is extremely small, which can reduce the tracking energy consumption and obtain more power output. The experiment results show that the device has high tracking precision, low drive power consumption. Compared to a typical two-axis solar tracker, the drive power consumption of motor can be reduced more than 70%.