abstract
- © Springer Nature Switzerland AG 2019. This paper presents the design of a new 2 degrees of freedom parallel manipulator and its theoretical implementation as a precise solar tracker. The cinematic mathematical model of the mechanism is studied in detail and a robust control algorithm based on sliding mode control is introduced to perform the desired angular positions and velocities in the presence of disturbances/uncertainties. The numerical simulations are carried out to verify the behavior of the suggested controller.