A Novel 2R Parallel Mechanism for Alt-azimuth Pedestal

3rd International Conference on Automation, Control and Robotics Engineering

工业技术;计算机科学;无线电电子学

Xu, C.C.^1 ; Xue, C.^1 ; Duan, X.C.^1

Key Laboratory of Electronic Equipment Structure Design, Ministry of Education of China, No.2 South Taibai Road, Xi'an, China^1

关键词: Asynchronous motion;    Commercial software;    Engineering implementation;    Inverse dynamic equations;    Lagrange equation;    Parallel mechanisms;    Rotating equipment;    Trajectory tracking;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/428/1/012053/pdf
DOI  :  10.1088/1757-899X/428/1/012053

来源: IOP

【 摘 要 】

This paper presents a novel 2R parallel mechanism used as alt-azimuth pedestal, i.e. a 2-DOF (degree-of-freedom) pedestal for supporting and rotating equipment about two perpendicular axes. Its active joints are two sliders equipped with servo control on a circular rail. The synchronous and asynchronous motions of the two sliders lead to the azimuth (rotation about the vertical axis) and pitch (rotation about the horizontal axis) of the rotatable platform, respectively. The DOF computation and kinematics are dealt with firstly, and then the dynamic model of the 2R parallel mechanism is established by using the Lagrange equation. Eventually, a numerical simulation of the typical trajectory motion is carried out, and the actuating torque needed in the actuators for the trajectory tracking motion is worked out by employing the derived inverse dynamic equations, which is consistent with the result obtained from commercial software. This study lays a solid base for the further investigation and engineering implementation of the 2R parallel mechanism.