3-RSR/SP并联车载天线机构运动及力学特性分析

摘要/Abstract

摘要： 提出了一种新型3-RSR/SP并联式车载天线机构，基于螺旋理论分析机构自由度，发现在不同状态下机构自由度可变;建立机构的静力平衡方程和变形协调方程，并绘制不同工况下机构各构件所受力与机构位姿之间关系曲线;与3-RSR并联机构进行对比，所提出的机构驱动力矩较小，验证了其中间支链具有静力卸载作用。考虑车载天线的实际工况，通过拉格朗日方程法分别建立机构在基座固定和基座运动两种情况下的动力学模型，并绘制与之相应的机构驱动力矩变化曲线，表明基座运动对驱动力矩影响较大。所提出的构型有助于拓宽并联机构在天线领域的应用，特性分析对后续样机研制具有一定参考价值。

关键词: 车载天线, 并联机构, 静力卸载, 动力学, 基座运动

Abstract: A new 3-RSR/SP parallel vehicle-borne antenna mechanism was presented. Based on the screw theory, the number of degree of freedoms (DOFs) of the mechanisms was analyzed and found alterable under different states. The static equilibrium equations and the deformation equations of compatibility of the mechanisms were set up, and the relation curves among the forces acted on the mechanism components and the poses of the mechanisms were plotted. The driven torques of the proposed mechanisms are smaller than those of 3-RSR parallel mechanisms, which indicates that the middle limbs of the proposed mechanisms have the effects static unloading functions. Considering the actual working status of the vehicle-borne antennas, the dynamics models of the mechanisms were established by using the Lagrange equation when the base was fixed and moving respectively. The changing curves of the mechanism's driven torques corresponding to the two conditions were plotted, which indicate that the base movement has obvious influences on the driven torques. The proposed mechanisms broaden the applications of the parallel mechanism in the antenna fields, and the performance analysis will possess certain reference values for further developments of the prototypes.

Key words: vehicle-borne antenna, parallel mechanism, static unloading, dynamics, base movement

中图分类号:

TH112

侯雨雷;赵亚杰;周治宇;曾达幸;杨彦东. 3-RSR/SP并联车载天线机构运动及力学特性分析[J]. 中国机械工程.

HOU Yulei;ZHAO Yajie;ZHOU Zhiyu;ZENG Daxing;YANG Yandong. Kinematic and Mechanics Characteristic Analysis of 3-RSR/SP Parallel Vehicle-borne Antenna Mechanisms[J]. China Mechanical Engineering.

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