大射电望远镜精调Stewart平台工作空间分析

针对大射电望远镜精调Stewart平台的五自由度运动特性,采用快速极坐标搜索法确定了五自由度大射电望远镜精调Stewart平台的工作空间.通过实例分析验证了所提出的工作空间分析方法的有效性.为大射电望远镜馈源轨迹跟踪实现和精调Stewart平台的设计奠定了坚实的基础.

The workspace of the robot is the base for the mechanical synthesis and trajectory tracking. In the light of the characteristics of fivefreedom, the polar coordinate searching method is used to determine the workspace of the fine tuning Stewart platform for the large radio telescope. The effectiveness of the method is illustrated by an example. The result has laid a solid base for the feed trajectory tracking and the design of the fine tuning Stewart platform for the large radio telescope.

国家自然科学基金资助项目(50075065);;陕西省自然科学基金资助项目(2000C22);;中国科学院机器人学开放研究基金资助项目(RL200104)