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Servo 1. Referring to your diagram, first consider the tilting part at the top. Imagine a line connecting its bearings. It will tilt (rotate) about that axis. The weight (force due to gravity) of the top part can be modeled as a single point, located at the Center of Gravity. The force, pointing straight down, tries to make the top part flop over -- it will ...

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Most solar tracking rigs only move along one axis because the efficiency savings from moving along 2 doesn't make up for the energy losses of having 2 motors. If you're just doing this for fun, then you have questions to ask yourself: How heavy is the system that you're moving? Is it so heavy that a normal hobby servo couldn't handle it? Is this ...

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Your computations of the transformation matrices are incorrect. DH transformation matrices are computed as a multiplication of four matrices: rotate about z by $\theta$, translate along z by $d$, translate along x by $a$, and rotate about x by $\alpha$. More simply: you are missing the $\theta$ terms in the rightmost columns of your transformation ...

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