Hostname: page-component-586b7cd67f-2brh9 Total loading time: 0 Render date: 2024-11-22T06:13:15.489Z Has data issue: false hasContentIssue false
  • English
  • Français

Dynamic Modeling and Mobility Analysis of the 3-R(RRR)R+R Antenna Mechanism

Published online by Cambridge University Press:  08 January 2021

Guoxing Zhang ,
Donghao Zheng ,
Jinwei Guo ,
Yulei Hou Open the ORCID record for Yulei Hou [Opens in a new window]  and
Daxing Zeng
Guoxing Zhang
Affiliation:
School of Mechanical Engineering, Yanshan University, Qinhuangdao066004, China
Donghao Zheng
Affiliation:
Beijing Institution of Radio Measurement, Beijing100854, China
Jinwei Guo
Affiliation:
School of Mechanical Engineering, Yanshan University, Qinhuangdao066004, China
Yulei Hou*
Affiliation:
School of Mechanical Engineering, Yanshan University, Qinhuangdao066004, China
Daxing Zeng
Affiliation:
School of Mechanical Engineering, Dongguan University of Technology, Dongguan523015, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

A novel 3-R(RRR)R+R (R as revolute joint) hybrid antenna mechanism (HAM) is proposed for noncircular polarized antenna. First, its mobility characteristic is analyzed. Besides, its kinematics is deduced, and the velocity and acceleration are obtained. Afterward, its dynamic model is established. The actuation torques of each actuation joint are obtained. Its actuation torques are verified by mathematical model analysis and dynamic simulation. Furthermore, its workspace is also presented. Finally, the motion characteristics experimental results show that the 3-R(RRR)R+R HAM can carry out the azimuth and pitch motion. This research work serves as a fundamental theoretical basis for its further application.

Keywords

Hybrid antenna mechanismDynamics analysisMobility analysisWorkspaceMotion experiment
Type
Article
Information
Robotica , Volume 39 , Issue 8 , August 2021 , pp. 1485 - 1503
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Kraus, J. and Marhefka, R., Antennas for All Applications (McGraw, 2003).Google Scholar
Artemenko, Y., Sil’vestrov, E., Korenovskii, V. and Glazunov, V., “Method for the synthesize of parallel-structure mechanisms for orientating a space telescope antenna,” J. Mach. Manuf. Reliab. 41(4), 265–269 (2012).CrossRefGoogle Scholar
Huang, Z., Li, Q. and Ding, H., Theory of Parallel Mechanisms (Springer, Dordrecht, 2013).CrossRefGoogle Scholar
Hou, Y., Duan, Y., Dou, Y., Yao, J., Jin, C., Li, J. and Zhao, Y., “Calibration of adjusting mechanism for subreflector of a 65 meters radio telescope,” China Mech. Eng. 24(24), 3318–3322, 3328 (2013). (in Chinese)Google Scholar
Yao, R., Li, Q., Sun, J., Sun, C. and Zhu, B., “Accuracy analysis on focus cabin of FAST,” J. Mech. Eng. 53(17), 36–42 (2017). (in Chinese)CrossRefGoogle Scholar
Koch, P., Kesteven, M. and Nishioka, H., “The AMiBA hexapod telescope mount,” Astrophys. J. 694(2), 1670–1684 (2009).CrossRefGoogle Scholar
Hou, Y., Zhao, Y., Zhou, Z., Zeng, D. and Yang, Y., “Kinematic and mechanics characteristic analysis of 3RSR/SP parallel vehicle-borne antenna mechanisms,” China Mech. Eng. 28(23), 2799–2808 (2017). (in Chinese)Google Scholar
Bernabe, L., Raynal, N. and Michel, Y., “3POD-A High Performance Parallel Antenna Pointing Mechanism,” 15th European Space Mechanisms & Tribology Symposium–ESMATS (2013).Google Scholar
Qi, Y., Sun, T. and Song, Y., “Multi-Objective optimization of parallel tracking mechanism considering parameter uncertainty,” J. Mech. Robot. 10(4), 041006 (2018).CrossRefGoogle Scholar
Xu, Y., Tong, S., Wang, B., Ju, Z., Yao, J. and Zhao, Y., “Application of 2RPU-UPR parallel mechanism in antenna support,” Chin. Mech. Eng. 30(14), 1748–1755 (2019). (in Chinese)Google Scholar
Zeng, D., Jing, G., Su, Y., Wang, Y. and Hou, Y., “A novel decoupled parallel mechanism with two translational and one rotational degree of freedom and its performance indices analysis,” Adv. Mech. Eng. 8(5), 1–10 (2016).CrossRefGoogle Scholar
Yao, J., Zeng, D., Hou, Y., Duan, Y., Dou, Y., Yu, Y., Han, B. and Zhao, Y., “Design and experiment research of subreflector adjusting system in large radio telescope antenna,” Mann Spacefl. 22(1), 69–73, 87 (2016). (in Chinese)Google Scholar
Staicu, S., Dynamics modelling of a Stewart-Based hybrid parallel robot,” Adv. Robot. 29(14), 1–10 (2015).CrossRefGoogle Scholar
Dong, C., Liu, H., Yue, W. and Huang, T., “Stiffness modeling and analysis of a novel 5-DOF hybrid robot,” Mech. Mach. Theory 125, 80–93 (2018).CrossRefGoogle Scholar
Wu, J., Yu, G., Gao, Y. and Wang, L., “Mechatronics modeling and vibration analysis of a 2-DOF parallel manipulator in a 5-DOF hybrid machine tool,” Mech. Mach. Theory 121, 430–445 (2018).CrossRefGoogle Scholar
Xu, L., Chen, Q., He, L. and Li, Q., “Kinematic analysis and design of a novel 3T1R 2-(PRR) 2RH hybrid manipulator,” Mech. Mach. Theory 112, 105–122 (2017).CrossRefGoogle Scholar
Zhang, D., Xu, Y., Yao, J. and Zhao, Y., “Analysis and optimization of a spatial parallel mechanism for a new 5-DOF hybrid serial-parallel manipulator,” Chin. J. Mech. Eng.-Ch. 31(1), 54 (2018). (in Chinese)CrossRefGoogle Scholar
Bingul, Z. and Karahan, O., “Dynamic Modeling and Simulation of Stewart Platform,” In: Serial and Parallel Robot Manipulators-Kinematics, Dynamics, Control and Optimization (Intechopen, 2012).Google Scholar
Chen, X., Sun, D. and Wang, Q., “Rigid dynamics modeling of redundant actuation parallel mechanism based on Lagrange method,” Trans. Chin. Soc. Agric. Mach. 46(12), 329–336 (2015).Google Scholar
Kalani, H., Rezaei, A. and Akbarzadeh, A., “Improved general solution for the dynamic modeling of Gough-Stewart platform based on principle of virtual work,” Nonlinear Dyn. 83(4), 2393–2418 (2016).CrossRefGoogle Scholar
Chen, G., Yu, W., Li, Q. and Wang, H., “Dynamic modeling and performance analysis of the 3-PRRU 1T2R parallel manipulator without parasitic motion,” Nonlinear Dyn. 90(1), 339–353 (2017).CrossRefGoogle Scholar
Chen, Z., Xu, L., Zhang, W. and Li, Q., “Closed-Form dynamic modeling and performance analysis of an over-constrained 2PUR-PSR parallel manipulator with parasitic motions,” Nonlinear Dyn. 96(1), 517–534 (2019).CrossRefGoogle Scholar
Yang, J., Xu, Z., Wu, Q., Zhu, M., He, S. and Qin, C., “Dynamic modeling and control of a 6-DOF micro-vibration simulator,” Mech. Mach. Theory 104, 350–369 (2016).CrossRefGoogle Scholar
Asadi, F. and Sadat, S., “Full dynamic modeling of the general Stewart platform manipulator via kane’s method,” IJST-T Mech Eng. 42(2), 161–168 (2018).Google Scholar
Lu, Y., Liu, Y., Zhang, L., Ye, N. and Wang, Y., “Dynamics analysis of a novel 5-DoF parallel manipulator with couple-constrained wrench,” Robotica 36(10), 1421–1435 (2018).CrossRefGoogle Scholar
Hu, B., Yu, J. and Lu, Y., “Inverse dynamics modeling of a (3-UPU)+(3-UPS+S) serial-parallel manipulator,” Robotica 34(3), 687–702 (2016).CrossRefGoogle Scholar
Roy, F., “A beginner’s guide to 6-D vectors (part 1),” IEEE Rob. Autom. Mag. 17(3), 83–94 (2010).Google Scholar
Roy, F., “A beginner’s guide to 6-D vectors (part 2),” IEEE Rob. Autom. Mag. 17(4), 88–99 (2010).Google Scholar
Park, F., Kim, B., Jang, C. and Hong, J., “Geometric algorithms for robot dynamics: A tutorial review,” Appl. Mech. Rev. 70(1), 1–18 (2018).CrossRefGoogle Scholar
Yang, K., Yang, W. and Wang, C., “Inverse dynamic analysis and position error evaluation of the heavy-duty industrial robot with elastic joints: An efficient approach based on Lie group,” Nonlinear Dyn. 93(2), 487–504 (2018).CrossRefGoogle Scholar
Taghirad, H., Parallel Robots: Mechanics and Control (CRC Press, 2013).CrossRefGoogle Scholar
Abedloo, E., Molaei, A. and Taghirad, H., “Closed-Form Dynamic Formulation of Spherical Parallel Manipulators by Gibbs-Appell Method,” International Conference on Robotics and Mechatronics (2014) pp. 576–581.Google Scholar
Danaei, B., Arian, A., Masouleh, M. and Kalhor, A., “Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism,” Multibody Syst. Dyn. 41(4), 367–390 (2017).CrossRefGoogle Scholar