三自由度天线并联机构运动与力学性能分析
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摘要
对三自由度天线并联机构的运动与力学性能进行了分析。基于天线工作要求,选择3-RSR、PU-2UPS和3-RPS并联机构作为天线座架构型,确定并联机构的基本参数,分析工作空间、驱动力、驱动力矩和功率,绘制工作空间图形,求解驱动力与驱动力矩变化曲线,计算电机功率。综合分析后,确认选择3-RSR并联机构作为天线座架构型最为适宜。
The motion and mechanical properties of the 3-DOF antenna parallel mechanism were analyzed. Based on the working requirements of the antenna, 3-RSR, PU-2 UPS and 3-RPS parallel mechanism were selected as the antenna base configuration type to define the basic parameters of the parallel mechanism, analyze the working space, driving force, driving torque and power, plot the workspace graphics, and solve the changing curve of driving force and the driving torque and calculate the motor power. After comprehensive analysis, it is confirmed that the 3-RSR parallel mechanism is well enough to be selected as the antenna base configuration.
The motion and mechanical properties of the 3-DOF antenna parallel mechanism were analyzed. Based on the working requirements of the antenna, 3-RSR, PU-2 UPS and 3-RPS parallel mechanism were selected as the antenna base configuration type to define the basic parameters of the parallel mechanism, analyze the working space, driving force, driving torque and power, plot the workspace graphics, and solve the changing curve of driving force and the driving torque and calculate the motor power. After comprehensive analysis, it is confirmed that the 3-RSR parallel mechanism is well enough to be selected as the antenna base configuration.
引文
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[12]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.
[2]ARTEMENKO Y N,SIL’VESTROV E E,KORENOVSKIIV V,et al.Method for the Synthesize of Parallel-structure Mechanisms for Orientating a Space Telescope Antenna[J].Journal of Machinery Manufacture and Reliability,2012,41(4):265-269.
[3]华为实.基于3-RSR并联机器人机构的天线支撑[J].机械,2000,27(5):10-11,14.
[4]吴凤高.天线座结构设计[M].北京:国防工业出版社,1980.
[5]朱钟淦,叶尚辉.天线结构设计[M].北京:国防工业出版社,1980.
[6]邓先荣.Stewart平台机构在雷达领域中的应用探讨[J].电子机械工程,2009,25(2):41-43.
[7]段艳宾,贾彦辉,李建军,等.应用于天线座的并联机构构型设计[J].机械制造,2014,52(8):26-29.
[8]姚建涛,李立建,窦玉超,等.大型射电望远镜天线副面调整机构完整刚度模型及微位移分析[J].机械工程学报,2013,49(21):44-53.
[9]侯雨雷,段艳宾,窦玉超,等.65 m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):3318-3322,3328.
[10]黄亮,朱文白,唐晓强.大射电望远镜巨型柔性并联机构悬索分析及简化[J].天文研究与技术,2013,10(1):77-84.
[11]石伟朝,李增科,杨晋蓉,等.大型射电望远镜索网中心反射面单元结构的设计[J].机械制造,2018,56(9):1-4.
[12]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.