Optimal design and trajectory tracking experiment of a novel 3-DOF parallel antenna mechanism

Abstract

The tracking range and pointing performance of the antenna are important indices to measure the antenna system. First, the 3 degree of freedom parallel mechanism is proposed for the supporting mechanism of the antenna. The trajectory tracking principle of the antenna mechanism is analyzed based on the inverse position solution model. Meanwhile, the kinematic model of the antenna mechanism with a specific motion trajectory is derived. In addition, the structural optimization design is demonstrated based on the actuation torques and motion range index. In addition, the trajectory planning research is carried out according to the trajectory tracking requirements. The trajectory planning simulation is carried out in the joint space. Afterward, the antenna motion range is obtained through simulation. The specific trajectory tracking simulation of the antenna is completed. Furthermore, the pitch and azimuth motion performance experiments are carried out based on the developed antenna mechanism prototype. Finally, the pentagram trajectory tracking performance is verified via experiments. This research serves as a reference for designing and engineering application of the antenna.