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

Published online by Cambridge University Press:  08 January 2021

Guoxing Zhang
School of Mechanical Engineering, Yanshan University, Qinhuangdao066004, China
Donghao Zheng
Beijing Institution of Radio Measurement, Beijing100854, China
Jinwei Guo
School of Mechanical Engineering, Yanshan University, Qinhuangdao066004, China
Yulei Hou*
School of Mechanical Engineering, Yanshan University, Qinhuangdao066004, China
Daxing Zeng
School of Mechanical Engineering, Dongguan University of Technology, Dongguan523015, China
*Corresponding author. E-mail:


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.

© The Author(s), 2021. Published by Cambridge University Press

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