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Analysing kinematics of a novel 3CPS parallel manipulator based on Rodrigues parametersCheng, Gang ...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.Vir: Strojniški vestnik = Journal of mechanical engineering. - ISSN 0039-2480 (Vol. 59, no. 5, May 2013, str. 291-300, SI 56)Vrsta gradiva - članek, sestavni delLeto - 2013Jezik - angleškiCOBISS.SI-ID - 13072923
Avtor
Cheng, Gang |
Xu, Peng |
Yang, De-hua |
Li, Hui, astronomija |
Liu, Hou-guang
Teme
astronomski teleskopi |
aktivna nastavitvena platforma |
segmentna zrcala |
paralelni manipulatorji |
Rodriguesovi parametri |
kinematika |
fotogrametrija |
telescopes |
active adjusting platform |
3CPS parallel manipulator |
Rodrigues parameters |
kinematics |
photogrammetry
vir: Strojniški vestnik = Journal of mechanical engineering. - ISSN 0039-2480 (Vol. 59, no. 5, May 2013, str. 291-300, SI 56)
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Leto | Faktor vpliva | Izdaja | Kategorija | Razvrstitev | ||||
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JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
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Povezave do osebnih bibliografij avtorjev | Povezave do podatkov o raziskovalcih v sistemu SICRIS |
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Cheng, Gang | |
Xu, Peng | |
Yang, De-hua | |
Li, Hui, astronomija | |
Liu, Hou-guang |
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