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Abstract:
According
to the requirement of active reflector supporting mechanism, one type of
spatial three degrees-of- freedom parallel manipulator combining two
degrees rotation and one degree translation is proposed. The inverse
kinematics problems are described in closed forms and the velocity
equation of the parallel manipulator is given. The forward kinematics
problem is investigated by number analysis method. Three kinds of
singularities are presented. The position and orientation workspace for
the manipulator is analyzed. The analysis results prove that the
manipulator can be used as the supporting mechanism of spherical radio
telescope. And the research builds the theory basis for dimensional
design, trajectory planning and control of this type of manipulator.
Key words:
Spherical
radio telescope
Active reflector Parallel manipulator Kinematics analysis
CLC No: TH242
国家863计划(2002AA421180)和中科院知识创新工程(FAST(预)-B-06)资助项目.
Received 20030205, received in revised form 20030616
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