Design and Fabrication of Automated Parabolic solar trough

Project Title

Design and Fabrication of Automated Parabolic solar trough

Project Area of Specialization Mechanical EngineeringProject Summary

The aim of this projected is to make a parabolic solar trough track sunlight. The parabolic solar trough is designed to work as a solar geezer and our aim is to increase its efficiency by making the trough solar track. We found several methods to automate the trough but we went with the robotics approach by designing a 3 DOF rotational parallel manupilator. The idea was to choose a method with the most amount of learning regardless of the difficulty. The designing of the trough was a FYP itself completed by a previous group but in order to make it compatible for the parallel manupilator we had to redesign it by using the same materials. Only the exoskeleton was redesigned and manufactured along with a base which supported the structure according to our geometrical needs. After the redesigning, the second part was to perform inverse kinematics and find the forces on the joints to select electric linear actuators suitable for our project. Currently we are working on the controls system in which we have designed a circuit and procured all the required items. We now have to setup a test rig and work on the code to automate it to track sunlight. We are in the final stages of our project and we expect to complete within 4 weeks.

Project Objectives

The purpose of this FYP is to analyze and fabricate a 3 DOF mechanism for a heliostat. This heliostat is in the form of parabolic trough, which incidents suns radiation on a series of pipes. In order to increase the efficiency of this system we propose the usage of an Azimuthal-Elevation 3-DOF mechanism for tracking the suns position throughout the day. Our proposed solution is novel in its nature because of the parabolic shape of the heliostat.

Project Implementation Method

According to the study done by Whee KuK Kim  we derived our mathematical equations based on the fundamentals they set. Details of these equations have been included into the technical part of the final deliverable

After finalizing our conceptional design, SOLID WORKS was used to construct the full design of the parabolic solar trough and each joint. Carefully each part was designed from scratch and then mated together to give the overall structure. The next focus was to find out the specification of the UPU links we would need so that we would order the right ones. In order to find out our link lengths we did an inverse kinematic analysis through MATLAB. Based on the equations specified in technical part of the project description 

Lastly the control system of the parabolic solar trough is something which we are already working on and hopefully will have ready and complete by the end of March. 

Benefits of the Project

An automated solar parabolic trough can have various applications. The purpose of this design is to increase the efficiency of our main source of energy. The energy from the sun is used to heat the fluid running through the pipe network. The fluid in our case is water. One of the main uses is  providing heated water for an industrial application like dyeing or for more domestic uses like supplying hot water.

The parabolic manipulator can also be used for solar panels to increase their efficiency. 

Technical Details of Final Deliverable

Equation 1 is the rotation matrix which relates the bottom plate axes with the top plate axes. It will be used to convert the joint locations defined by the top plate axes with the bottom plate axes. The rotation is about z, y and x axes with angles alpha, beta and gamma respectively. The superscript represents the axes with respect to the base plate (B) and the subscript represents the axes with respect to the top plate (T).

(1)

Equation 2-4 defines the vector location of the joints on the bottom plate with respect to the bottom plate axes.

   (2)

(3)

                       (4)

Equation 5-7 defines the vector location of the joints on the top plate with respect to the top plate axes.

    (5)

 (6)

   (7)

Equation 8 is used to find the link lengths of the linear actuators. Finding these link lengths would mean that our inverse kinematic has been completed. ri is further defined in equation 9. P is the vertical distance from the bottom plate to the top plate. Ri is the vector locations of the joints on the bottom plate.

       (8)

Equation 9 is used to convert the locations of the top plate joints with respect to the bottom plate axes. This  is used in equation 8. 

                   (9)                                                                       

Equation 10 defines the jacobian matrix of our parallel manipulator which will give us the forces on the joint. The superscript represents the independent variables (l) and dependent variables (u).

[Glu]=[A]-1[L]                                                                      (10)

Where [L] and [A] are:

[L] = diag ( l1 l2 l3  )                        (11)

       (12)

Due to  lack of space we could not put in the whole code, which can be presented when required. 

Final Deliverable of the Project HW/SW integrated systemCore Industry Energy Other IndustriesCore Technology RoboticsOther TechnologiesSustainable Development Goals Affordable and Clean Energy, Industry, Innovation and Infrastructure, Sustainable Cities and Communities, Responsible Consumption and Production, Climate ActionRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	79000
Fabrication of unit	Equipment	1	42000	42000
Linear actuators	Equipment	3	9000	27000
Tariff Cost	Miscellaneous	1	10000	10000