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四自由度混联天线机构静力学及运动特性仿真与设计

Statics and Kinematic Characteristics Simulation of 4-DOF Hybrid Antenna Mechanism for Design

  • 摘要: 研究天线机构静力学和运动特性是提高天线轨迹跟踪精度的有效途径。首先,对混联天线机构结构进行构型描述;然后基于力旋量变换关系对混联天线机构各部件进行受力分析,借助数值计算软件进行静力学求解,分析特定位姿混联天线机构驱动力的分布情况,并将理论求解结果与仿真结果进行对比,以验证理论分析的正确性;应用有限元软件分析混联天线机构特定位姿下的变形情况,对混联天线机构的整体变形进行评估;针对混联天线机构进行振动特性仿真获得混联天线机构特定位姿下的振型和固有频率;采用数值计算软件进行混联天线机构运动仿真获得混联天线机构俯仰运动和方位运动的包络空间;最后基于设计完成的关键零部件模型设计了混联天线机构物理样机。

     

    Abstract: It is an effective way to improve the tracking accuracy of antenna by studying the static and kinematic characteristics of antenna mechanism.Firstly,the structure of the hybrid antenna mechanism was described.Secondly,the force analysis of each component of the hybrid antenna mechanism was given based on the wrench transformation relationship.The static solution of the hybrid antenna mechanism was carried out based on the numerical calculation software.The actuation forces distribution of the hybrid antenna mechanism with special positioning attitude were studied.The theoretical solution results were compared with the software simulation results to verify the correctness of the theoretical analysis.Thirdly,the finite element software was used to study the deformation of the hybrid antenna mechanism under special positioning attitude,and the overall deformation of the hybrid antenna mechanism was evaluated.The vibration characteristics of the hybrid antenna mechanism were simulated.Meanwhile,the vibration mode and natural frequency of the hybrid antenna mechanism under special positioning attitude were obtained.The motion simulation of hybrid antenna mechanism was carried out based on the numerical calculation software,and the motion envelope space of pitch and azimuth motion trajectory of the hybrid antenna mechanism was studied.Finally,the structure design of the key components of the hybrid antenna mechanism was carried out,and the physical prototype of the hybrid antenna mechanism was developed based on the key parts model.The research result can provide a reference for the design and development of antenna mechanism.

     

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