摘要
鉴于新一代大型射电望远镜的悬索舱体系统与Ｓｔｅｗａｒｔ平台机构在工作原理上 的相似性，将悬索舱体系统视为广义Ｓｔｅｗａｒｔ平台。为了消除系统的力奇异性，通过增加冗 余悬索，构造了冗余度大型射电望远镜广义Ｓｔｅｗａｒｔ平台。利用作用于舱体的悬索张力与载 荷之间的Ｊａｃｏｂｉａｎ变换矩阵的行列式与条件数，描述了系统工作空间内力奇异性的特点，以 及冗余驱动力消除系统力奇异性的显著效果。
： Considering the similarity on the operating mechanism between the ca ble and cabin system of next generation large radio telescope and S tewart platfo rm manipulator, the cable and cabin system is viewed as a general Stewart platfo rm To eliminate the force singularity in the system, a redundant cable is adde d into the general Stewart platform Both the determinant and condition number of Jacobian matrix between cables' tensions and external loads are utilized to d escribe the force singularity in the original system On the other hand, they a re utilized to show the prominent effect on the elimination of force singularity with the redundant cable
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2001年第12期7-10,15,共5页
Journal of Mechanical Engineering
基金
国家自然科学基金(59675040)
中科院国家天文观测中心大射电望远镜实验室经费资助项目。
