Stewart并联机构型天线座架故障监测策略与实验研究  

Fault monitor strategy and experimental study of Stewart parallel mechanism type antenna frame

作　　者：窦玉超[1] 段艳宾[1] 王大为[1] 董哲[1] DOU Yu-chao;DUAN Yan-bin;WANG Da-wei;DONG Zhe(The 54th Research Institute of CETC,Shijiazhuang Hebei 050081,China)

机构地区：[1]中国电子科技集团公司第五十四研究所,河北石家庄050081

出　　处：《河北省科学院学报》2023年第1期30-35,共6页Journal of The Hebei Academy of Sciences

摘　　要：Stewart并联机构型天线座架以其重量轻、无盲区的特点,应用日益广泛,为建立针对该机构的故障监测策略,提高天线的安全性。首先对Stewart并联机构关节空间故障类型进行分类,并分析了关节空间故障对操作空间的影响。其次依据多数故障所产生影响的共同性,提出将分支实际方向向量与理论方向向量进行比对,通过二者差异的变化对机构故障进行监测的安全策略。最后建立安全监测策略数学模型,进行数值计算分析和实验验证。实验结果表明采用分支实际方向向量与理论方向向量夹角变化作为判断依据,可即时发现Stewart并联机构故障的发生。故基于分支方向向量的故障监测策略,可作为保障Stewart并联机构安全运行的有效手段,同时鉴于并联机构分支间强耦合的共性,该方法也可作为制定其它构型并联机构安全监测策略的参考。Stewart parallel mechanism type antenna frame is widely used because of its light weight and no blind area. In order to establish the fault monitoring strategy for the mechanism and improve the safety of the antenna. Firstly, the types of joint space fault of Stewart parallel mechanism classified, and the influence of joint space faults on the operation space was analyzed. Secondly, according to the common influence of most faults, a safety strategy of monitoring mechanism faults by comparing the actual direction vector of branches with the theoretical direction vector of forces is proposed. Finally, the mathematical model of safety monitoring strategy is established, and the numerical analysis and experimental verification are carried out. The experimental results show that the fault of Stewart parallel mechanism can be found immediately by using the actual direction vector of branch and the variation of the theoretical direction to the ultimate angle. Therefore, the monitoring strategy based on branch direction question can be used as an effective means to ensure the safe operation of Stewart parallel mechanisms. In view of the common characteristics of strong coupling between branches of parallel mechanisms, this method can also be used as a reference to develop safety monitoring strategies for parallel mechanisms of other configurations.

关 键 词：STEWART 并联机构 天线 安全 故障 

分 类 号：TN820.82[电子电信—信息与通信工程]