Kinematic performance analysis of the active reflector mechanism in FAST

摘要

This paper presents a preliminary study dedicated to a spatial three-degree-of-freedom (3-DoF) parallel mechanism intended to be used as the active reflector surface of a large spherical radio telescope. The forward and inverse kinematic problems of the mechanism are addressed, and solved in analytical form. Since the mechanism has only three degrees of freedom, constraint equations describing the inter-relationship between the six Cartesian coordinates are derived. Furthermore, the Jacobian matrix of the mechanism is obtained. Finally, the dexterity of the mechanism and the parasitic motion are discussed. A simulation result is reported.