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

The four branch chains of the current invention kind a space parallel closed-loop construction with the transferring platform and iTagPro key finder the fastened platform, which might understand two-dimensional translation and two-dimensional rotational motion 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 in particular relates to a 4-diploma-of-freedom single-platform large-rotation-angle clever solar tracker that can understand exact tracking in environments similar 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 normally composed of a dynamic platform, a static platform and several department chains between the two platforms. It has some great benefits of high rigidity, quick velocity and excessive precision. It is widely used in industrial robots, motion simulators, parallel machine tools and other fields. In recent years, international countries have successively applied some mechanism configurations to industrial manufacturing (comparable to: ItagPro delta mechanism), whereas there are fewer home ones, and they're rarely used in production 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。

In the fields of movement simulators, perspective leveling, photo voltaic monitoring, and parallel machine instruments, it is usually crucial to realize large displacements, massive rotation angles, and iTagPro features 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。