Dynamics of a 3-DOF parallel mechanism used for orientation applications

In the paper dynamic studies regarding the possibility to use a 3-DOF parallel mechanism for the TV satellite antenna orientation or sun tracker are presented. The advantage to use a parallel mechanism consists of their good stiffness, very high accuracy and their capability to manipulate heavy load...

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Bibliographic Details
Published in2008 IEEE International Conference on Automation, Quality and Testing, Robotics Vol. 2; pp. 398 - 403
Main Authors Itul, T., Pisla, D.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Equations
Joints
Kinematics
Mathematical model
Mobile communication
Satellite broadcasting
Satellites
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ISBN9781424425761
142442576X
DOI10.1109/AQTR.2008.4588862

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Summary:In the paper dynamic studies regarding the possibility to use a 3-DOF parallel mechanism for the TV satellite antenna orientation or sun tracker are presented. The advantage to use a parallel mechanism consists of their good stiffness, very high accuracy and their capability to manipulate heavy loads. The algorithms for the kinematic models are solved. Dynamic equations are obtained by using the Newton-Euler formalism in two steps. The first step is to determine the relations between the spherical joint reaction forces and the kinematic parameters of the mobile platform. The second step is to determine the generalized active torques. Using a numerical and graphical simulation, the diagrams for the dynamics representation are computed.
ISBN:9781424425761
142442576X
DOI:10.1109/AQTR.2008.4588862