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Inverse kinematics model of parallel macro-micro manipulator system

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Chinese Science Bulletin

Abstract

An improved design, which employs the integration of optic, mechanical and electronic technologies for the next generation large radio telescope, is presented in this note. The authors propose the concept of parallel macro-micro manipulator system from the feed support structure with a rough tuning subsystem based on a cable structure and a fine tuning subsystem based on the Stewart platform. According to the requirement of astronomical observation, the inverse kinematics model of this parallel macro-micro manipulator system is deduced. This inverse kinematics model is necessary for the computer-controlled motion of feed.

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Authors and Affiliations

  1. School of Mechanical and Electronic Engineering, Xidian Universily, 710071, Xi’an, China

    Wenli Wang, Baoyan Duan & Hong Liu

  2. Beijing Astronomy Observatory, China Academy of Sciences, 100012, Beijing, China

    Rendong Nan & Bo Peng

Authors
  1. Wenli Wang
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  2. Baoyan Duan
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  3. Hong Liu
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  4. Rendong Nan
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  5. Bo Peng
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Cite this article

Wang, W., Duan, B., Liu, H. et al. Inverse kinematics model of parallel macro-micro manipulator system. Chin. Sci. Bull. 45, 2221–2226 (2000). https://doi.org/10.1007/BF02886357

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  • DOI: https://doi.org/10.1007/BF02886357

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