2RPU-UPR并联机构在天线支撑中的应用
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摘要
为了解决现有天线支撑机构不能同时满足高承载能力与大工作空间的要求,采用并联机构2RPU-UPR作为天线支撑机构,并对机构进行设计与实验。分析了并联机构2RPU-UPR的受力特征并建立了静力平衡方程。提出了最大承载能力与驱动分支运动范围两个优化指标,采用统一目标函数法建立两个指标的综合评价函数,对支撑机构关键尺度进行了优化设计,得到了一组机构性能优异的结构尺寸;研制了天线支撑机构实验样机,并进行了实验,实验结果表明:提出的天线支撑机构不仅能够承受大载荷,而且能满足横摇±90°、纵摇±90°的大工作空间需求,具有良好的应用前景。
In order to solve the problems that the existing antenna support mechanisms could not meet the requirements of high load-bearing capacity and large working space simultaneously, a two-rotation and one-translation PM 2 RPU-UPR with few joints was proposed to be used as the antenna supporting mechanisms. Firstly, the degrees of freedom of 2 RPU-UPR PM with few joints were analyzed and the kinematics model was established. Two optimization indexes, i.e,the maximum load-bearing capacity and motion range of driving branch, were proposed, based on which the key dimensions of the supporting mechanisms were optimized. As a result, a set of structural dimensions that provided excellent performances were obtained. Furthermore,the experimental prototype of the antenna support mechanisms was developed and experimental investisgations were performed. The experimental results show that the proposed antenna supporting mechanisms may withstand large loads, and meet the large working space requirements of ±90° rolling and ±90° pitching, thus it has a good application prospect.
In order to solve the problems that the existing antenna support mechanisms could not meet the requirements of high load-bearing capacity and large working space simultaneously, a two-rotation and one-translation PM 2 RPU-UPR with few joints was proposed to be used as the antenna supporting mechanisms. Firstly, the degrees of freedom of 2 RPU-UPR PM with few joints were analyzed and the kinematics model was established. Two optimization indexes, i.e,the maximum load-bearing capacity and motion range of driving branch, were proposed, based on which the key dimensions of the supporting mechanisms were optimized. As a result, a set of structural dimensions that provided excellent performances were obtained. Furthermore,the experimental prototype of the antenna support mechanisms was developed and experimental investisgations were performed. The experimental results show that the proposed antenna supporting mechanisms may withstand large loads, and meet the large working space requirements of ±90° rolling and ±90° pitching, thus it has a good application prospect.
引文
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[17] 高建设,李明祥,侯伯杰,等.新型四足步行机器人串并混联腿的运动学分析[J].光学精密工程,2015,23(11):3147-3160.GAO Jianshe,LI Mingxiang,HOU Bojie,et al.Kinematics Analysis on the Serial-parallel Leg of a Novel Quadruped Walking Robot[J].Optics and Precision Engineering,2015,23(11):3147-3160.
[18] 汪炜,颜国正,王志武,等.肠道机器人扩张机构设计与优化[J].光学精密工程,2017,25(7):1815-1824.WANG Wei,YAN Guozheng,WANG Zhiwu,et al.Design and Optimization of Expanding Mechanism of Intestinal Robot[J].Optics and Precision Engineering,2017,25(7):1815-1824.
[2] 李建军,贾彦辉.X-Y型天线座构型设计[J].电子机械工程,2014,30(5):37-40.LI Jianjun,JIA Yanhui.Configuration Design of X-Y Style Antenna Pedestal[J].Journal of Electro-Mechanical Engineering,2014,30(5):37-40.
[3] 宋其华,毕无敌,李天平.极轴式卫星天线的原理及座架设计[J].山东师范大学学报(自然科学版),1994,9(2):23-25.SONG Qihua,BI Wudi,LI Tianping.Principle and Frame Design of Polar Axis Satellite Antenna[J].Journal of Shandong Normal University(Natural Science Edition),1994,9(2):23-25.
[4] TSAI L W.Robot Analysis:the Mechanics of Serial and Parallel Manipulators [M].New York:John Wiley & Sons,1999:1-50.
[5] 梅江平,臧家炜,乔正宇,等.三自由度Delta并联机械手轨迹规划方法[J].机械工程学报,2016,52(19):9-17.MEI Jiangping,ZANG Jiawei,QIAO Zhengyu,et al.Three-DOF Delta Parallel Manipulator Trajectory Planning Method[J].Journal of Mechanical Engineering,2016,52(19):9-17.
[6] MAURO S,GASTALDI L,PASTORELLI S,et al.Dynamic Flight Simulation with a 3 DOF Parallel Platform[J].International Journal of Applied Engineering Research,2016,11(18):9436-9442.
[7] 姚建涛,曾达幸,侯雨雷,等.大型射电望远镜天线副反射面调整系统设计与实验研究[J].载人航天,2016,22(1):69-73.YAO Jiantao,ZENG Daxing,HOU Yulei,et al.Design and Experiment Research of Subreflector Adjusting System in Large Radio Telescope Antenna [J].Manned Spaceflight,2016,22(1):69-73.
[8] YAO Jiantao,GU Weidong,FENG Zongqiang,et al.Dynamic Analysis and Driving Force Optimization of a 5-dof Parallel Manipulator with Redundant Actuation [J].Robotics and Computer Integrated Manufacturing,2017,48:51-58.
[9] 侯雨雷,段艳宾,窦玉超,等.65m射电望远镜天线副面调整机构标定研究[J].中国机械工程,2013,24(24):3318-3322.HOU Yulei,DUAN Yanbin,DOU Yuchao,et al.Calibration of the Antenna Subsurface Adjustment Mechanism of 65m Radio Telescope[J].China Mechanical Engineering,2013,24(24):3318-3322.
[10] 侯雨雷,赵亚杰,周治宇,等.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,2017,28(23):2799-2808.HOU Yulei,ZHAO Yajie,ZHOU Zhiyu,et al.Analysis of Motion and Mechanical Characteristics of 3-RSR/SP Parallel Vehicle Antenna Mechanism[J].China Mechanical Engineering,2017,28(23):2799-2808.
[11] 李秦川,柴馨雪,陈巧红.两转一移三自由度并联机构研究进展[J].科学通报,2017,62(14):1507-1519.LI Qinchuan,CHAI Xinxue,CHEN Qiaohong.Progress in the Study of 1T2R Parallel Mechanisms with Three Degrees of Freedom[J].Chinese Science Bulletin,2017,62(14):1507-1519.
[12] 许允斗,胡建华,张东胜,等.一种所有转轴均连续的五自由度混联机器人机构[J].机械工程学报,2018,54(21):19-24.XU Yundou,HU Jianhua,ZHANG Dongsheng,et al.A Kind of Five Degrees of Freedom Hybrid Robot with All Rotating Shafts Continuous[J].Journal of Mechanical Engineering,2018,54(21):19-24.
[13] 张东胜,许允斗,姚建涛,等.2RPU/UPR+RP五自由度混联机器人静刚度分析[J].中国机械工程,2018,29(6):712-719.ZHANG Dongsheng,XU Yundou,YAO Jiantao,et al.Static Stiffness Analysis of 2RPU/UPR+RP Five-degree-of-freedom Hybrid Robot[J].China Mechanical Engineering,2018,29(6):712-719.
[14] LI Q C,HERVE J M.Type Synthesis of 3-DOF RPR-Equivalent Parallel Mechanisms[J].IEEE Transactions on Robotics,2014,30(6):1333-1343.
[15] XU Yundou,ZHANG Dongsheng,YAO Jiantao,et al.Type Synthesis of the 2R1T Parallel Mechanism with Two Continuous Rotational Axes and Study on the Principle of Its Motion Decoupling[J].Mechanism and Machine Theory,2017,108:27-40.
[16] 赵永生,刘文兰,许允斗,等.一种过约束并联机构受力的数值仿真分析方法[J].中国机械工程,2015,26(12):1576-1583.ZHAO Yongsheng,LIU Wenlan,XU Yundou,et al.A Numerical Simulation Method for Force Analysis of an Overconstrained PM[J].China Mechanical Eenineering,2015,26(12):1576-1583.
[17] 高建设,李明祥,侯伯杰,等.新型四足步行机器人串并混联腿的运动学分析[J].光学精密工程,2015,23(11):3147-3160.GAO Jianshe,LI Mingxiang,HOU Bojie,et al.Kinematics Analysis on the Serial-parallel Leg of a Novel Quadruped Walking Robot[J].Optics and Precision Engineering,2015,23(11):3147-3160.
[18] 汪炜,颜国正,王志武,等.肠道机器人扩张机构设计与优化[J].光学精密工程,2017,25(7):1815-1824.WANG Wei,YAN Guozheng,WANG Zhiwu,et al.Design and Optimization of Expanding Mechanism of Intestinal Robot[J].Optics and Precision Engineering,2017,25(7):1815-1824.