摘要
针对主动反射面支撑机构的要求,提出一种能够实现一个方向移动和两个方向转动的空间3自由度并联机构。研究了机构的运动学建模方法,构造出运动学的逆解方程和速度传递方程,给出了运动学正解的数值求取方法。系统分析了机构三类奇异位形,以及机构的位置空间和姿态空间。分析结果表明该机构适用于射电望远镜主动反射面支撑机构。研究也为此类机构的尺度设计,路径规划和控制提供了理论依据。
According to the requirement of active reflector
supporting mechanism, one type of spatial three degrees-of-
freedom parallel manipulator combining tww degrees rotation
and one degree translation is proposed. The inverse kinematics
problems are described in closed forms and the velocity
equqtion 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.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2004年第6期127-131,共5页
Journal of Mechanical Engineering
基金
国家863计划(2002AA421180)
中科院知识创新工程(FAST(预)-B-06)
关键词
球面射电望远镜
主动反射面
并联机构
运动学分析
Spherical radio telescope
Active reflector
Parallel manipulator
Kinematics analysis
