Abstract
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.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference33 articles.
1. Mechatronics modeling and vibration analysis of a 2-DOF parallel manipulator in a 5-DOF hybrid machine tool
2. A beginner’s guide to 6-D vectors (part 1);Roy;IEEE Rob. Autom. Mag.,2010
3. Application of 2RPU-UPR parallel mechanism in antenna support;Xu;Chin. Mech. Eng.,2019
4. 32. 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.
5. Kinematic analysis and design of a novel 3T1R 2-(PRR)2RH hybrid manipulator
Cited by
4 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献