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

Zhang, Guoxing; Zheng, Donghao; Guo, Jinwei; Hou, Yulei; Zeng, Daxing

doi:10.1017/s0263574720001290

Cited by 7 publications

(1 citation statement)

References 26 publications

(25 reference statements)

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“…It is widely used in precision machining [1], aerospace [2], micro-surgery [3], 3D printing [4], spatial positioning [5] and other fields. However, the control system of the coupled PM is relatively complex compared with the decoupled one because of the strong coupled relationship between the input and output of the coupled PM [6], and it is difficult to analyze the kinematics  Shihua Li shli@ysu.edu.cn 1 Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems, Yanshan University 2 School of Mechanical Engineering, Yanshan University, Qinhuangdao066004, China and dynamics as well as singular positions of the mechanism [7][8]. The theoretical analysis and prototype development will be simpler if the full decoupled of the PM is realized, that is, the input and output variables represent a one-to-one correspondence relationship.…”

Section: Introductionmentioning

confidence: 99%

Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed loop Units and High Stiffness

Wang

et al. 2021

Preprint

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In this paper, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed loop units and high stiffness is proposed based on screw theory. Firstly, a new criterion for the full decoupled of PMs is presented that the reciprocal product of the transmission wrenc h screw matrix and the output twist screw matrix of PMs is a diagonal matrix, and all elements on the main diagonal are nonzero constants. The forms of the transmission wrench screws are determined by the criterion. Secondly, the forms of the actuated and unactuated screws can be obtained according to their relationships with the transmission wrench screws. The basic decoupled limbs are generated by combination of the above actuated and unactuated screws. Finally, a closed loop units construction method is investigated to apply the decoupled mechanisms in a better way on the high stiffness occasion. The closed loop units are constructed in the basic decoupled limbs to generate a high stiffness fully decoupled 3T PM. Kinematic and stiffness analys e s show that the Jacobian matrix is a diagonal matrix, and the stiffness is obviously higher than that of the orthogonal coupling mechanisms, which verifies the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good applicati on prospect in vehicle durability test platform.

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Section: Introductionmentioning

confidence: 99%

Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed loop Units and High Stiffness

Wang

et al. 2021

Preprint

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Kinematic-mapping-model-guided analysis and optimization of 2-PSS&1-RR circular-rail parallel mechanism for fully steerable phased array antennas

Tan,

Meng,

Duan

et al. 2024

Defence Technology

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Optimal design and trajectory tracking experiment of a novel 3-DOF parallel antenna mechanism

et al. 2022

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The tracking range and pointing performance of the antenna are important indices to measure the antenna system. First, the 3 degree of freedom parallel mechanism is proposed for the supporting mechanism of the antenna. The trajectory tracking principle of the antenna mechanism is analyzed based on the inverse position solution model. Meanwhile, the kinematic model of the antenna mechanism with a specific motion trajectory is derived. In addition, the structural optimization design is demonstrated based on the actuation torques and motion range index. In addition, the trajectory planning research is carried out according to the trajectory tracking requirements. The trajectory planning simulation is carried out in the joint space. Afterward, the antenna motion range is obtained through simulation. The specific trajectory tracking simulation of the antenna is completed. Furthermore, the pitch and azimuth motion performance experiments are carried out based on the developed antenna mechanism prototype. Finally, the pentagram trajectory tracking performance is verified via experiments. This research serves as a reference for designing and engineering application of the antenna.

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

Cited by 7 publications

References 26 publications

Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed loop Units and High Stiffness

Type Synthesis of Fully Decoupled Three Translational Parallel Mechanism with Closed loop Units and High Stiffness

Kinematic-mapping-model-guided analysis and optimization of 2-PSS&1-RR circular-rail parallel mechanism for fully steerable phased array antennas

Optimal design and trajectory tracking experiment of a novel 3-DOF parallel antenna mechanism

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