Analysing kinematics of a novel 3CPS parallel manipulator based on Rodrigues parameters
Cheng, Gang (Author), Xu, Peng (Author), Yang, De-hua (Author), Li, Hui (Author), Liu, Hou-guang (Author)

URLURL - Presentation file, Visit http://www.dlib.si/details/URN:NBN:SI:doc-JII0K0CR This link opens in a new window

In order to adjust the poses of the segment mirrors and give the correct surface shape to a large aperture telescope, an active adjusting platform for segment mirror with a novel 3CPS parallel manipulator as core module is proposed. The platform has 6 degree-of-freedoms (DOFs) including three translational freedoms and three rotational freedoms. Its kinematics are analysed systematically. By means of the Rodrigues parameters method, the formulae for solving the inverse/forward displacement, the inverse/forward velocity, and the inverse/ forward acceleration kinematics are derived. A numerical simulation of the kinematics model is then carried out combining the topological structure characteristics of the manipulator. The correctness of the kinematics model is verified by an experiment in which the pose of moving platform is measured using a photogrammetric method.

Keywords:telescopes, active adjusting platform, 3CPS parallel manipulator, Rodrigues parameters, kinematics, photogrammetry
Work type:Not categorized (r6)
Tipology:1.01 - Original Scientific Article
Organization:FS - Faculty of Mechanical Engineering
Number of pages:str. 291-300, SI 56
Numbering:Vol. 59, no. 5
ISSN on article:0039-2480
DOI:10.5545/sv-jme.2012.727 Link is opened in a new window
COBISS.SI-ID:13072923 Link is opened in a new window
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Record is a part of a journal

Title:Strojniški vestnik
Shortened title:Stroj. vestn.
Publisher:Zveza strojnih inženirjev in tehnikov Slovenije [et al.], = Association of Mechanical Engineers and Technicians of Slovenia [et al.]
COBISS.SI-ID:762116 This link opens in a new window

Secondary language

Keywords:astronomski teleskopi, aktivna nastavitvena platforma, segmentna zrcala, paralelni manipulatorji, Rodriguesovi parametri, kinematika, fotogrametrija

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