3-RSR型并联车载天线机构动力学优化与仿真

动态特性是高速高精密天线功能实现的关键。采用3-RSR(R为转动副，S为球面副)型并联机构作为车载天线构型，基于拉格朗日方程建立基体运动下天线机构动力学模型。以固有频率为目标，利用遗传算法对3-RSR天线机构参数进行优化，性能对比验证了优化结果的有效性。考虑风雪载荷及车体随机激励工况，建立车载天线机构仿真模型，分析得到相应工况下驱动力矩变化曲线。研究工作对车载天线机构动力学设计及样机研制具有参考意义。

Dynamics Optimization and Simulation of 3-RSR Parallel Vehicle-borne Antenna Mechanisms

Dynamic characteristics are the key to realize the high-speed and high-precision antenna functions. Using 3-RSR (R as a rotating pair, S as a spherical pair) type parallel mechanism as the configuration of the vehicle antenna, the dynamics model of the mechanisms was established by using Lagrange equation. With the natural frequency as the goal, the parameters of 3-RSR antenna were optimized by genetic algorithm, and the performance comparisons verified the effectiveness of the optimization results. Considering the wind-snow loads and the random excitation conditions of the vehicle bodies, a simulation model of the vehicle-mounted antenna mechanisms was established, the change curves of driving torques were obtained under the corresponding working conditions. The research work has a reference meaning to the dynamics design of vehicle antenna mechanisms and prototype development.