SUMMARY 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.

中文翻译：

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3-R(RRR)R+R天线机构的动态建模和移动性分析

发明内容针对非圆极化天线提出了一种新颖的3-R(RRR)R+R(R作为旋转接头)混合天线机构(HAM)。首先，分析其移动特性。此外，推导了它的运动学，得到了速度和加速度。然后，建立其动态模型。获得每个驱动关节的驱动扭矩。其驱动力矩通过数学模型分析和动态仿真验证。此外，还展示了它的工作空间。最后，运动特性实验结果表明，3-R(RRR)R+R HAM可以进行方位角和俯仰角运动。该研究工作为其进一步应用奠定了基础理论基础。