• 机械基础工程 •

### 四自由度混联天线机构运动特性分析

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

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.