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

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.