1. Aerospace applications of PKM Prof. Rosario Sinatra Dipartimento di Ingegneria Industriale e Meccanica Università degli Studi di Catania March 30, 2007 EURON07 WINTER SCHOOL PARALLEL ROBOTS: Theory and Applications 2nd International UMH Robotics Winter School Flamingo Oasis Hotel, Benidorm, Spain March 26 - 30, 2007

2. AEROSPACE MECHANISMS POINTING SYSTEMS FOR SATELLITE ANTENNAS CONTROL SYSTEM SCHEME FOR POINTING ERROR COMPENSATION RESEARCH PROJECTS IN WITH PARTNERSHIP WITH THE SATELLITE COMMUNICATIONS REQUIRES A VERY ACCURATE POINTING SYSTEM, COMPOSED BY DIFFERENT ELECTRO- MECHANICAL DEVICES Sinatra Rosario Pirrotta Simone ANTENNA MECHANICAL and MECHANISM DESIGN SECTION, ING. ABERTO MESCHINI

3. AEROSPACE MECHANISMS POINTING SYSTEM FOR DOUBLE REFLECTOR ANTENNA PARABOLIC REFLECTOR SUBREFLECTOR FEED OLD PONTING CONCEPTNEW PONTING CONCEPT W24

4. AEROSPACE MECHANISMS RADIATION DIAGRAM ORBITAL RE-POINTING RE-POINTING BY SUBREFLECTOR DYNAMIC POSITIONING POINTING SYSTEM FOR DOUBLE REFLECTOR ANTENNA

5. AEROSPACE MECHANISMS FIXED PLATFORM MOBILE PLATFORM LEGS KINEMATIC EQUATION SPHERICAL JOINT PRISMATIC JOINT UNIVERSAL JOINT POINTING SYSTEM FOR DOUBLE REFLECTOR ANTENNA

6. AEROSPACE MECHANISMS DISPLACEMENTVELOCITYACCELERATION ORBITAL DISTURBANCE SIGNAL (STATION KEEPING) SUBREFLECTOR’S CENTRE 3D-PATH KINEMATICS VARIABLES OF THE ACTUATED PRISMATIC JOINTS POINTING SYSTEM FOR DOUBLE REFLECTOR ANTENNA

7. AEROSPACE MECHANISMS 2 DOF POINTING SYSTEM FIXED PLATFORM MOBILE PLATFORM LINEAR ACTUATOR POINTING CONTROL RELATIONS

8. AEROSPACE MECHANISMS MATLAB GUI FOR DIRECT AND INVERSE KINEMATICS MATLAB GRAPHICS OUTPUT POINTING SURFACE  1 = f(s 1, s 2 ) 2 DOF POINTING SYSTEM

9. AEROSPACE MECHANISMS RESIDUALS MAP AND DISTRIBUTION WITH RESPETC TO ANALYTIC POINTING RELATIONS 2 DOF POINTING SYSTEM COMPARISON WITH CAD “EUCLID” KINEMATIC RESULTS

10. AEROSPACE MECHANISMS ULTRASONIC MOTOR 2 Supply Channels ELECTRICAL Equal amplitude V maxA =V maxB Opposite phase (90°) Flexural vibration 2 waves with time phase of 90° Rotational motion around vertical axes ROTORS STATOR Travelling wave PIEZOELECTRICS ROTORS STATOR

11. AEROSPACE MECHANISMS ULTRASONIC MOTOR NORMAL AND TANGENTIAL FORCES FROM ROTOR TO STATOR PRELOAD FORCE EXTERNAL TORQUE NORMAL AND TANGENTIAL FORCES FROM STATOR TO ROTOR MULTIBODY SYSTEM

12. AEROSPACE MECHANISMS ULTRASONIC MOTOR EQUATIONS OF MOTION

13. AEROSPACE MECHANISMS ULTRASONIC MOTOR TORQUE CALCULATION AREA-FORCE RELATIONSHIP

14. AEROSPACE MECHANISMS ULTRASONIC MOTOR

15. AEROSPACE MECHANISMS ULTRASONIC MOTOR TORQUE-SPEED CURVES PARAMETRIZED WITH RESPECT TO: 1-MAXIMUM VOLTAGE AMPLITUDE (CASE a and b) 2-FRICTION COEFFICIENT

16. A. Meschini, R. Sinatra and S. Pirrotta, 2002. A Parallel Mechanism for a Gregorian offset Satellitare Antenna with double reflector, Proceedings of the WORKSHOP on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, October 3–4, Quebec City, Quebec. A. Cammarata and R. Sinatra, 2005, Dynamics of a two-dof parallel pointing mechanism, Fifth ASME International Conference on Multibody Systems, Nonlinear Dynamics and Control, Sept. 24-28, 2005, Long Beach, California, USA. R. Di Gregorio, A. Cammarata and R. Sinatra, 2005, On The Dynamic Isotropy Of 2-Dof Mechanisms, Fifth ASME International Conference on Multibody Systems, Nonlinear Dynamics and Control, Sept. 24-28, 2005, Long Beach, California, USA. R. Sinatra, D. Scalora and A. Meschini, 2004, Direct Kinematics of a Parallel Pointing Mechanism Configuration, Proceedings of the WSEAS Conferences, August 17-19, 2004, Corfu, Greece. S. Pirrotta, R. Sinatra, A. Meschini, 2006. Evaluation of the Effect of Preaload Force on Resonance Frequencies for a Traveling Wave Ultrasonic Motor, IEEE Transactions on ultrasonics, ferroelectrics, and frequency control, Vol. 53, n.4, pp. 746-753. S. Pirrotta, R. Sinatra and A. Meschini, 2007. A novel simulation model for ring type ultrasonic motor, Meccanica International Journal, Vol. 42, n.2, pp. 127-139. References