The article deals with the optimization of the azimuthal tracking mechanism for a photovoltaic (PV) platform, which uses linear actuators as actuation elements for both movements (diurnal and elevation). In the case of diurnal movement, where the platform’s angular field of orientation is large, a mechanism with a relatively simple structure is used for amplifying the actuator’s stroke and avoiding the risk of the system locking itself (by limiting the values of the transmission angle). The optimization study targets the mechanical device, the control device, and the bi-axial tracking program (embodied by the laws of motion in time for the platform’s diurnal and elevation angles) with the purpose of obtaining a high input of solar radiation, with a minimal energy consumption to achieve tracking. The study is carried out by using a virtual prototyping platform, which includes Computer Aided Design (CAD), Multi-Body Systems (MBS), and Design for Control (DFC) computer applications. The mechanical and control devices of the solar tracker are integrated and tested in mechatronic concept. The simulations’ results, which were performed for a set of representative days throughout the year, prove the effectiveness of the proposed design.