Performance Analysis And Design Of 3-RSR/SP Parallel Vehicle-borne Antenna Mechanism

Antenna is the sight of the world and the link between man and the sky.The antenna pedestal serves as an antenna support and orientation device,through the antenna control system,so that the antenna in accordance with the predetermined law or follow the target movement to accurately point to the target,and accurately measure the target orientation.The mechanical properties of the antenna pedestal directly affect the performance of the entire antenna system,and structural design of the antenna pedestal is an important part of the antenna design.In this paper,a suitable vehicle-borne antenna mechanism is proposed,and its performance is analyzed and the structure is designed,which lay the theoretical and technical foundation for the dynamic design of the parallel vehicle-borne antenna mechanism.The research contents are as follows:Based on the design requirements of the antenna pedestal,as well as the existing problems of traditional antenna pedestal,the characteristics of four kinds of parallel mechanisms with one degree – of – freedom(DOF)translation and 2-DOFs rotation are analyzed,and the optimal selection of the parallel mechanism with one DOF translation and two DOFs rotation is performed.Then the preferred 3-RSR/SP parallel vehicle-borne antenna mechanism is preliminary synthesized.Kinematics analysis is presented for 3-RSR/SP parallel vehicle-borne antenna mechanism.The DOF of the 3-RSR/SP parallel mechanism is calculated by using the screw theory.On this basis,the singularity of the mechanism is analyzed.The forward and inverse solution of 3-RSR/SP parallel mechanism is derived.On the basis of the inverse solution of the position,the interference of the mechanism in the working range is analyzed,and the motion envelope space of the antenna mechanism is calculated.The static equilibrium equations and the deformation equations of compatibility of the 3-RSR/SP parallel mechanism are set up,and the full static solution of the mechanism is obtained.The relation curves between the forces acted on the mechanism components and the pose of the mechanism are plotted.Compared with 3-RSR parallel mechanism,the static unloading performance of 3-RSR/SP parallel mechanism is analyzed.Based on the static analysis results of 3-RSR/SP parallel mechanism,the stiffness matrix and mass matrix of the mechanism are obtained,and the natural frequency of the mechanism is obtained.Based on the static analysis results of 3-RSR/SP parallel mechanism,the stiffness matrix and mass matrix of the mechanism are obtained,and the natural frequency of the mechanism is obtained.The influence curves of the pose of the mechanism and structure parameters on the natural frequency are plotted.From the point of view of dynamic design,the optimization objectives and design variables of 3-RSR/SP parallel mechanism are put forward,and the mathematical model of multi-objective optimization is established.The influence of structural parameters on the optimization objectives is analyzed,and the relationship between structure parameters and the optimization objectives is discussed.