The invention relates to a big-angle clever solar tracker, iTagPro bluetooth tracker which features a transferring platform and a hard and everyday tracker tool fast platform, and a primary department chain I, a second branch chain II, a 3rd department chain III, and iTagPro shop a fourth branch chain are put in between the shifting platform and the mounted platform. IV, the primary branch I and the third branch III have the same structure and are symmetrically arranged, and the second branch II and the fourth department IV have the same structure and are symmetrically arranged; the primary department I includes the first connecting rod, and the first connecting rod The higher finish of the rod is connected with the moving platform via the ball pair, the decrease finish of the primary connecting rod is connected with the primary Hooke hinge, and the first Hooke hinge is related with the fastened platform via the first connecting block by the primary moving pair; the second branch chain II Including the second connecting rod, the upper finish of the second connecting rod is related with the moving platform through the second Hooke hinge, the decrease finish of the second connecting rod is linked with the second connecting block by the rotating pair, and the second connecting block and the fastened platform are moved by the second Secondary connection.
The four department chains of the current invention kind a space parallel closed-loop construction with the moving platform and the fastened platform, which may understand two-dimensional translation and two-dimensional rotational movement in area. 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 field of parallel robots, and specifically relates to a 4-diploma-of-freedom single-platform giant-rotation-angle clever solar tracker that can understand exact monitoring in environments corresponding to 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 a number of other department chains between the 2 platforms. It has some great benefits of high rigidity, quick speed and high precision. It’s broadly used in industrial robots, movement simulators, parallel machine instruments and different fields. In recent times, overseas countries have successively utilized some mechanism configurations to industrial manufacturing (equivalent to: delta mechanism), whereas there are fewer home ones, and they’re rarely utilized in production and iTagPro shop 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, attitude leveling, photo voltaic monitoring, and parallel machine tools, it is usually obligatory to realize large displacements, massive rotation angles, and motions within a big working space. 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。