中国机械工程

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四自由度混联天线机构运动特性分析

张国兴1;侯雨雷1;曾达幸1;窦玉超2;段艳宾2   

  1. 1. 燕山大学机械工程学院,秦皇岛,066004
    2. 中国电子科技集团公司第五十四研究所,石家庄,050081
  • 出版日期:2020-11-10 发布日期:2020-11-16
  • 基金资助:
    国家重点研发计划资助项目(2018YFB1307900);
    国家自然科学基金资助项目(51775473);
    河北省自然科学基金资助项目(E2018203140,E2019203109);
    河北省高等学校科学技术研究重点项目(ZD2019020)

Motion Characteristics Analysis of 4-DOF Hybrid Antenna Mechanisms

ZHANG Guoxing1;HOU Yulei1;ZENG Daxing1;DOU Yuchao2;DUAN Yanbin2   

  1. 1. School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004
    2. The 54th Researth Institute of CETC, Shijiazhuang, 050081
  • Online:2020-11-10 Published:2020-11-16

摘要: 天线构型设计和运动特性分析是保障天线系统实现轨迹追踪任务的前提。基于3RSR并联机构构造3-R(RRR)R+R混联天线机构,并对混联天线机构结构进行描述,利用螺旋理论分析混联天线机构自由度数目和性质;用指数积公式表示混联天线机构各杆件位姿,建立混联天线机构运动学模型,得到混联天线机构各个杆件的速度螺旋矩阵;通过MATLAB软件仿真得到混联天线机构方位和俯仰运动轨迹,通过ADAMS软件仿真对理论求解得到的混联天线机构运动学参数进行验证。最后基于混联天线机构原理样机进行运动特性实验。

关键词: 混联天线机构, 自由度, 运动特性, 原理样机

Abstract: The design of antenna configuration and the  motion characteristics analysis were the prerequisite for the realization of the tracking task of the antenna systems. A 3-R(RRR)R+R hybrid antenna mechanisms was constructed based on the 3RSR parallel mechanism, and the structure of the hybrid antenna mechanism was described. The number and properties of the DOF of the hybrid antenna mechanisms were analyzed by the screw theory. Using the exponential product formula to express the positions and orientations of each link of the hybrid antenna mechanisms, the kinematic models of the hybrid antenna mechanisms were established, and the twist matrix of each link of the hybrid antenna mechanisms was obtained. The azimuth and pitch trajectories of the hybrid antenna mechanisms were obtained by MATLAB software simulation, and the kinematics parameters of the hybrid antenna mechanisms were verified by ADAMS software simulation. Finally, based on the prototype of hybrid antenna mechanisms, the experiments of motion characteristics were carried out.

Key words: antenna hybrid mechanism, degree of freedom(DOF), motion characteristic, prototype

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