Analysis of the PU-2UPS antenna parallel mechanism

Abstract

In order to meet the requirements of the antenna pedestal for supporting and driving antenna to complete specific trajectory movement, the PU-2UPS parallel mechanism is proposed for antenna pedestal, where P, U and S represent the prismatic joint, universal joint and spherical joint, respectively. The screw theory is applied to analyze the mobility of the PU-2UPS antenna parallel mechanism (APM). Meanwhile, kinematic analysis of the mechanism is carried out based on the theory of twist and spatial acceleration. Based on the wrench and force balance relationship, the dynamic model of the PU-2UPS APM is established. Therefore, the actuation forces of each actuation joint are obtained. Afterward, the work-space of the PU-2UPS APM is constructed based on the boundary search method. Finally, the mathematical model of the PU-2UPS APM is established by MATLAB software, and the theoretical analysis of the PU-2UPS APM is verified by ADAMS software. The studies have been performed that the PU-2UPS APM is suitable for antenna pedestal in respect of mobility, kinematics and dynamics properties. This research results serve as a fundamental theoretical basis for design and analysis of the APM.