Application of 2RPU-UPR Parallel Mechanism in Antenna Support

Abstract

Abstract: 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 2RPU-UPR with few joints was proposed to be used as the antenna supporting mechanisms. Firstly, the degrees of freedom of 2RPU-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.

Key words: antenna supporting mechanism, parallel mechanism(PM), dimension optimization, structural design

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。

关键词: 天线支撑机构, 并联机构, 尺度优化, 结构设计

CLC Number:

TP112

许允斗1,2;仝少帅1;王贝1;鞠忠金1;姚建涛1,2;赵永生1,2. 2RPU-UPR并联机构在天线支撑中的应用[J]. 中国机械工程.

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