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-2UPS 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.
出处
《机械制造》
2019年第6期63-66,76,共5页
Machinery
基金
国家重点研发计划项目(编号:2018YFB1307900)
国家自然科学基金资助项目(编号:51775473)
河北省自然科学基金资助项目(编号:E2018203140)
关键词
天线
并联机构
运行
力学
性能
Antennae
Parallel Mechanism
Operation
Mechanics
Performance
