ArticleScientific reports2024
Simulation and kinematic analysis of a 3-DOF marine antenna pedestal focusing on singularity avoidance and its effects on angular velocity and angular acceleration.
Article in Scientific reports, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
1 citing paper in PubMed.
- Development of an Improved Stiffness Ellipsoid Method for Precise Robot-Positioner Collaborative Control in Friction Stir Welding.Materials (Basel, Switzerland) · 2025Article
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Authors and funding
3 authors.
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Abstract
The antenna pedestal in marine satellite communications uses three degrees of freedom, with an added degree to avoid singularity, which can increase joint angular velocity and acceleration. This study models the mechanism in SolidWorks, simulates it in Matlab, uses kinematic equations and the Denavit-Hartenberg method to propose a path that minimizes joint velocity and acceleration during tracking. The novelty of this study as a summary includes first identifying the required degree of freedom to address the redundancy issue and introducing an equation based on that degree of freedom considering the workspace far from singularity to add to the inverse kinematics equations of the mechanism. The second is finding the optimal value of the influential parameter for the mechanism to pass through the farthest range from the singularity when the end-effector passes 90
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