Design And Research Of Radar Bearing Device Based On 3-RPS/SS Redundant Drive Parallel Mechanism

In this paper,the radar bearing mechanism is taken as the research background.In view of the shortcomings of the series-stage radar at present,a parallel mechanism is proposed to solve the problems of singularity and stability.For task-oriented work requirements,a 3-RPS/SS redundant drive parallel mechanism for radar loaders was designed.The output platform of the mechanism has two rotational motions,and the feasibility of the scheme is verified by theoretical analysis and simulation comparison.The main contents of this paper include the following aspects:Firstly,according to the mission requirements of radar load and work,a new 3-RPS/SS redundant drive parallel mechanism is designed.The overall freedom of the new redundant drive parallel mechanism is calculated by the spiral theory and the modified K-G formula,and the relative freedom of the dynamic platform is two.,and the relative degree of freedom of the dynamic platform is two.The mechanism is a parallel mechanism with drive redundancy.The relative freedom of the dynamic platform of the organization meets the mission requirements of the radar work.The schematic diagram of the configuration of the structure is established.The kinematics forward and backward kinematics analysis of the configuration is completed,and three functional expressions for driving the change of the sub-bar length are obtained.The Jacobian matrix of this configuration is analyzed,which provides a theoretical basis for subsequent correlation analysis.Then,the working space of 3-RPS/SS redundant drive parallel mechanism is analyzed.The influence of the length of the intermediate rod on the size of the motion space is plotted using Mathematica,and the function relationship between the length of the intermediate rod and the length of the driving rod is given.In order to get the most sports work space.The distribution of the singularity curve of the mechanism in the workspace is drawn and analyzed and discussed.Again,a 3-RPS/SS redundant drive parallel virtual prototype was built.The Adams software was used to simulate the forward and reverse kinematics of the configuration,and the forward kinematics simulation of the mechanism was completed.The displacement,velocity,acceleration and force curves of the end moving platform were output,and the classic non-redundant 3-RPS parallel mechanism was compared and the analysis results were explained.The inverse kinematics simulation of the mechanism is completed,and the displacement,velocity,acceleration and force curves of the three drives of the mechanism are output.Boundary conditions were set for this configuration,and stiffness and modal analysis were performed using Anays software.Finally,the engineering 3D model of the 3-RPS/SS redundant drive parallel mechanism was established.The 3D printer was used to process the related parts,and the physical prototype of the mechanism was completed,and the simple motion control of the mechanism was carried out.