Inverse kinematics model of parallel macro-micro manipulator system

被引：0

作者：

WANG Wenli DUAN Baoyan LIU Hong NAN Rendong PENG BoSchool of Mechanical and Electronic Engineering Xidian University Xian China ^{[710071
]}

Beijing Astronomy Observatory China Academy of Sciences Beijing China ^{[100012
]}

机构：

来源：

ChineseScienceBulletin | 2000年 / 24期

关键词：

large radio telescope; parallel manipulator; kinematics;

D O I：

暂无

中图分类号：

P111.44 [射电望远镜（无线电望远镜）];

学科分类号：

070401 ;

摘要：

<正> An improved design, which employs the integration of optic, mechanical and electronic technologies for the next generation large radio telescope, is presented in this note. The authors propose the concept of parallel macro-micro manipulator system from the feed support structure with a rough tuning subsystem based on a cable structure and a fine tuning subsystem based on the Stewart platform. According to the requirement of astronomical observation, the inverse kinematics model of this parallel macro-micro manipulator system is deduced. This inverse kinematics model is necessary for the computer-controlled motion of feed.

引用

页码：2221 / 2226

页数：6