Dynamic Modeling and Mobility Analysis of the 3-R(RRR)R+R Antenna Mechanism

A novel 3-R(RRR)R+R (R as revolute joint) hybrid antenna mechanism (HAM) is proposed for noncircular polarized antenna. First, its mobility characteristic is analyzed. Besides, its kinematics is deduced, and the velocity and acceleration are obtained. Afterward, its dynamic model is established. The actuation torques of each actuation joint are obtained. Its actuation torques are verified by mathematical model analysis and dynamic simulation. Furthermore, its workspace is also presented. Finally, the motion characteristics experimental results show that the 3-R(RRR)R+R HAM can carry out the azimuth and pitch motion. This research work serves as a fundamental theoretical basis for its further application.