On the analysis of active reflector supporting manipulator for the large spherical radio telescope

	On the analysis of active reflector supporting manipulator for the large spherical radio telescope
	Tang, XQ ; Wang, JS ; Zhang, H ; Wang, QM
刊名	MECHATRONICS
	2004-11-01
卷号	14 期号:9 页码:1037-1053
关键词	spherical radio telescope active reflector parallel manipulator kinematics analysis
英文摘要	This paper presents a solution to the problem of active reflector supporting manipulator. A new type of spatial three degrees-of-freedom (DOF) parallel manipulator combining two degrees rotation and one degree translation is proposed. The inverse kinematics problem is described in closed form 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 are defined and analyzed. The manipulator accuracy and the active reflector fitting accuracy are researched systematically. The analysis results prove that the manipulator can be used as the supporting manipulator of spherical radio telescope. And the research builds the theory basis for dimensional design, trajectory planning and control of this type of manipulator. (C) 2004 Elsevier Ltd. All rights reserved.
收录类别	SCI
语种	英语
WOS记录号	WOS:000223507600005
内容类型	期刊论文
源URL	[http://ir.bao.ac.cn/handle/114a11/6935]
专题	国家天文台_射电天文研究部
作者单位	1.Tsinghua Univ, Dept Precis Instruments, Mfg Engn Inst, Beijing 100084, Peoples R China 2.Chinese Acad Sci, Natl Astron Observ, Beijing 100012, Peoples R China
推荐引用方式 GB/T 7714	Tang, XQ,Wang, JS,Zhang, H,et al. On the analysis of active reflector supporting manipulator for the large spherical radio telescope[J]. MECHATRONICS,2004,14(9):1037-1053.
APA	Tang, XQ,Wang, JS,Zhang, H,&Wang, QM.(2004).On the analysis of active reflector supporting manipulator for the large spherical radio telescope.MECHATRONICS,14(9),1037-1053.
MLA	Tang, XQ,et al."On the analysis of active reflector supporting manipulator for the large spherical radio telescope".MECHATRONICS 14.9(2004):1037-1053.