Abstract
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.
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