基于运动学映射模型的并联驱动式天线座分析与参数优化

doi:10.3901/JME.260236

机械工程学报 ›› 2026, Vol. 62 ›› Issue (5): 182-191.doi: 10.3901/JME.260236

• 机器人及机构学 • 上一篇

扫码分享

基于运动学映射模型的并联驱动式天线座分析与参数优化

孟祥飞¹, 谭国栋¹, 段学超¹, 肖佳宣¹, 姚斌²

1. 西安电子科技大学电子装备机电耦合重点实验室西安 710071;
2. 锐捷网络股份有限公司福州 350005

收稿日期:2025-08-19 修回日期:2025-12-24 发布日期:2026-04-23
作者简介:孟祥飞,男,2000年出生,博士研究生。主要研究方向为雷达伺服系统结构创新与控制技术。E-mail:xfmeng123@stu.xidian.edu.cn
段学超(通信作者),男,1982年出生,博士,教授,博士研究生导师。主要研究方向为机器人与机电一体化技术。E-mail:xchduan@xidian.edu.cn
基金资助:
国家重点研发计划资助项目(2021YFB3900300)。

Analysis and Parameter Optimization of Parallel-driven Antenna Pedestals Based on Kinematic Mapping Models

MENG Xiangfei¹, TAN Guodong¹, DUAN Xuechao¹, XIAO Jiaxuan¹, YAO Bin²

1. State Key Laboratory of Electromechanical Coupling in Electronic Equipment, Xidian University, Xi'an 710071;
2. Ruijie Networks Co, Fuzhou 350005

Received:2025-08-19 Revised:2025-12-24 Published:2026-04-23

摘要/Abstract

摘要： 并联驱动式天线座的运动学特性复杂且约束条件高度耦合，因而在建模与参数优化过程中面临较大困难。充分利用天线座俯仰运动与曲柄滑块机构运动特性高度一致的特点，建立天线座与曲柄滑块机构的运动学映射模型，从而将对天线座的研究转化为对曲柄滑块机构的研究。通过对曲柄滑块机构进行多解识别、奇异分析来识别天线座可行正逆解和奇异位置，结合运动学映射模型探索工作空间外奇异位形对天线座结构刚度的影响，并设计出一种适用于这类机构的系统化回溯算法，进一步开展了机构参数优化，显著降低了天线座结构重量并提高了圆形轨道的利用率。

关键词: 并联天线座, 曲柄滑块机构, 运动学映射模型, 运动学正逆解, 奇异位置

Abstract: The kinematic characteristics of parallel-driven antenna pedestals are complex, and their constraint conditions are highly coupled, presenting significant challenges in modeling and parameter optimization. This research fully exploits the high consistency between the pitch motion characteristics of the antenna pedestals and the crank-slider mechanism, establishing a kinematic mapping model between the antenna pedestals and the crank-slider mechanism. This approach transforms the study of the antenna pedestals into the study of the crank-slider mechanism. By conducting multiple solution recognition and singular analysis on the crank-slider mechanism, feasible forward and inverse solutions and singular positions of the antenna pedestals are identified. Combined with the kinematic mapping model, the impact of singular configurations outside the workspace on the structural stiffness of the antenna pedestals is explored. Furthermore, a systematic backtracking algorithm suitable for such mechanisms is designed to optimize structural parameters, significantly reducing the weight of the antenna pedestal structure and improving the utilization rate of circular orbits.

Key words: parallel antenna pedestals, crank-slider mechanism, kinematic mapping model, forward/inverse kinematics, singular configuration

中图分类号:

TH112

孟祥飞, 谭国栋, 段学超, 肖佳宣, 姚斌. 基于运动学映射模型的并联驱动式天线座分析与参数优化[J]. 机械工程学报, 2026, 62(5): 182-191.

MENG Xiangfei, TAN Guodong, DUAN Xuechao, XIAO Jiaxuan, YAO Bin. Analysis and Parameter Optimization of Parallel-driven Antenna Pedestals Based on Kinematic Mapping Models[J]. Journal of Mechanical Engineering, 2026, 62(5): 182-191.

导出引用管理器 EndNote|Reference Manager|ProCite|BibTeX|RefWorks

链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260236

http://www.cjmenet.com.cn/CN/Y2026/V62/I5/182

参考文献

[1] WANG N，XU Q，MA J，et al. The Qitai radio telescope[J]. Science China Physics，Mechanics & Astronomy，2023，66(8):289512.
[2] ZHANG B，SHANG W，GAO X，et al. Synthetic design and analysis of the new feed cabin mechanism in the five-hundred-meter aperture spherical radio telescope (FAST)[J]. Mechanism and Machine Theory，2024，191:105507.
[3] MANGLA S，DATTA A. Spectral analysis of ionospheric density variations measured with the large radio telescope in the low-latitude region[J]. Geophysical Research Letters，2023，50(14):e2023GL103305.
[4] WAN Y，LIAO S，CHE W，et al. Heterogeneous beam elements based phased array antenna technology:Theory，analysis，and experiment[J]. IEEE Transactions on Antennas and Propagation，2024，72(6):5033-5046.
[5] HUANG J，YIN J，AN M，et al. Azimuth pointing calibration for rotating phased array radar based on ground clutter correlation[J]. IEEE Transactions on Geoscience and Remote Sensing，2024，63:1000315
[6] LIU Z，DING Y，QUAN C，et al. Optimization of a novel，bidirectional，double-ring，deployable mesh antenna with a super-large aperture[J]. Acta Astronautica，2024，214:202-215.
[7] 冯树飞，段学超，段宝岩. 一种大型全可动反射面天线的轻量化创新设计[J]. 中国科学:物理学力学天文学，2017，47(5):78-90. FENG Shufei，DUAN Xuechao，DUAN Baoyan. An innovative lightweight design of a large fully steerable reflector antenna[J]. Scientia Sinica:Physics，Mechanics & Astronomy，2017，47(5):78-90
[8] TAN G，MENG X，DUAN X，et al. Cable-driven deployment mechanism design and electromechanical coupling modeling for rigid-reflector deployable antenna[J]. Mechanism and Machine Theory，2025，209:106006.
[9] WU J，YE H，TIAN Y. Kinematic calibration of a novel two-axis solar tracker[J]. IEEE Transactions on Automation Science and Engineering，2025，22:9718-9728
[10] DUNLOP G，ELLIS P，AFZULPURKAR N. The satellite tracking keyhole problem:A parallel mechanism mount solution[J]. Transactions of the Institution of Professional Engineers New Zealand:Electrical/Mechanical/Chemical Engineering Section，1993，20(1):1-7.
[11] KOCH P，KESTEVEN M，NISHIOKA H，et al. The AMiBA hexapod telescope mount[J]. The Astrophysical Journal，2009，694(2):1670-1684.
[12] ZHANG G，GUO J，HOU Y，et al. Analysis of the PU-2UPS antenna parallel mechanism[J]. Journal of Mechanical Science and Technology，2021，35:717-728.
[13] ZHANG G，ZHENG D，GUO J，et al. Dynamic modeling and mobility analysis of the 3-R (RRR) R+ R antenna mechanism[J]. Robotica，2021，39(8):1485-1503.
[14] WU G，DONG H，WANG D，et al. A 3-RRR spherical parallel manipulator reconfigured with four-bar linkages[C]//2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR). IEEE，2018:1-7.
[15] LARYUSHKIN P，ANTONOV A，FOMIN A，et al. Novel reconfigurable spherical parallel mechanisms with a circular rail[J]. Robotics，2022，11(2):30.
[16] KISELEV S，ANTONOV A，FOMIN A. Parallel robots with a circular guide:Systematic review of kinematic schemes and methods of synthesis and analysis[J]. Journal of Machinery Manufacture and Reliability，2022，51(1):20-29.
[17] FOMIN A，ANTONOV A，KISELEV S. A new class of foldable mechanisms with a circular rail—FoldRail mechanisms[J]. Mechanism and Machine Theory，2023，189:105425.
[18] ANTONOV A，FOMIN A，KISELEV S. Inverse and forward kinematic analysis of a 6-DOF foldable mechanism with a circular rail (FoldRail mechanism)[J]. Mechanism and Machine Theory，2025，206:105904.
[19] XU C，XUE C，DUAN X. A novel 2R parallel mechanism for alt-azimuth pedestal[C]//IOP Conference Series:Materials Science and Engineering. IOP Publishing，2018:012053.
[20] HE S，DUAN X，QU X，et al. Kinematic modeling and motion control of a parallel robotic antenna pedestal[J]. Robotica，2023，41(11):3275-3295.
[21] RUSSO M，ZHANG D，LIU X，et al. A review of parallel kinematic machine tools:Design，modeling，and applications[J]. International Journal of Machine Tools and Manufacture，2024，196:104118.
[22] LI C，WANG N，CHEN K，et al. Prescribed flexible orientation workspace and performance comparison of non-redundant 3-DOF planar parallel mechanisms[J]. Mechanism and Machine Theory，2022，168:104602.
[23] BRIOT S，MERLET J. Direct kinematic singularities and stability analysis of sagging cable-driven parallel robots[J]. IEEE Transactions on Robotics，2023，39(3):2240-2254.
[24] WANG Y，JUAN L，NING F，et al. Dynamic analysis of crank slider mechanism considering 3D translational joint clearance based on variable contact area[J]. Mechanics & Industry，2025，26:5.
[25] 刘辛军，谢福贵，汪劲松. 并联机器人机构学基础[M]. 北京:高等教育出版社，2018. LIU Xinjun，XIE Fugui，WANG Jinsong. Fundamentals of parallel robotic mechanisms[M]. Beijing:Higher Education Press，2018.

基于运动学映射模型的并联驱动式天线座分析与参数优化

Analysis and Parameter Optimization of Parallel-driven Antenna Pedestals Based on Kinematic Mapping Models

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 2

编辑推荐

Metrics

本文评价

[1]	周续;张定华;吴宝海;罗明. 非正交双转台五轴机床后置处理通用方法[J]. , 2014, 50(15): 198-204.
[2]	李雨桐;王玉新. 力作用下并联机构奇异点动态稳定性[J]. , 2013, 49(3): 31-35.