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	Kinematics analysis of active reflector supporting mechanism for FAST
	Chen Renren ; Tang Xiaoqiang ; Li Tiemin
	2010-05-10 ; 2010-05-10
会议名称	International Technology and Innovation Conference 2006. ITIC 2006 ; International Technology and Innovation Conference 2006. ITIC 2006 ; Hangzhou, China ; INSPEC
关键词	Practical Theoretical or Mathematical/ inverse problems Jacobian matrices manipulator kinematics radiotelescopes/ kinematics analysis active reflector supporting mechanism five-hundred meter aperture spherical radio telescope parallel mechanism inverse kinematics parasitic motion Jacobian matrix velocity equation/ B6360 Radioastronomical techniques and equipment C3380E Control of astronomical instruments C3390M Manipulators C1110 Algebra C1120 Mathematical analysis E2230 Robot and manipulator mechanics E0210A Algebra E0210C Mathematical analysis
中文摘要	In the application of active reflector units supporting mechanism for a large spherical radio telescope (five-hundred meter aperture spherical radio telescope: FAST), a spatial three-degree-of-freedom (DOF) parallel mechanism combining two degrees rotation and one degree translation is investigated. In this paper, the mechanism is described in detail and its inverse kinematics solutions are derived. The parasitic motion of this mechanism is analyzed, and the relationships between the parasitic motions and independent motions of the mechanism are illustrated, followed by the Jacobian matrix of the velocity equation. The distribution of conditioning index on the workspace of the mechanism is obtained. And the workspace of the mechanism is numerically generated. The analysis results prove that the parasitic motion is neglectable compared to the independent motion in this application and the mechanism can be used as the supporting mechanism of spherical radio telescope.
会议录出版者	Inst. of Eng. and Technol ; Stevenage, UK
语种	英语 ; 英语
内容类型	会议论文
源URL	[http://hdl.handle.net/123456789/19440]
专题	清华大学
推荐引用方式 GB/T 7714	Chen Renren,Tang Xiaoqiang,Li Tiemin. Kinematics analysis of active reflector supporting mechanism for FAST[C]. 见:International Technology and Innovation Conference 2006. ITIC 2006, International Technology and Innovation Conference 2006. ITIC 2006, Hangzhou, China, INSPEC.

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