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首页> 外文会议>1997 ASME design engineering technical conferences (DETC'97) >KINEMATIC ANALYSIS OF A THREE-DOF PARALLEL MECHANISM FOR TELESCOPE APPLICATIONS
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KINEMATIC ANALYSIS OF A THREE-DOF PARALLEL MECHANISM FOR TELESCOPE APPLICATIONS

机译：望远镜应用三自由度并联机构的运动学分析

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摘要

This paper presents a kinematic analysis of a three-degree-of-freedom parallel mechanism intended for use as a telescope mirror focussing device. The construction of the mechanism is first described and its forward and inverse kinematics solutions are derived. Because the mechanism has only three degrees of freedom, constraint equations must be generated to describe the inter-relationship between the six Cartesian coordinates which describe the position and orientation of the moving platform. Once these constraints are incorporated into the kinematics model, a constrained Jacobian matrix is obtained. The stiffness and dexterity properties of the mechanism are then determined based on this Jacobian matrix. The mechanism is shown to exhibit desirable properties in the region of its workspace of interest in the telescope focussing application.
机译：本文提出了一种用于望远镜镜聚焦装置的三自由度并联机构的运动学分析。首先描述了该机构的构造，并得出了其正向和反向运动学解决方案。由于该机制只有三个自由度，因此必须生成约束方程来描述六个笛卡尔坐标之间的相互关系，这些坐标描述了移动平台的位置和方向。一旦将这些约束条件纳入运动学模型，就可以获得约束雅可比矩阵。然后根据该雅可比矩阵确定机械装置的刚度和灵活性。在望远镜聚焦应用中，该机构显示出在其感兴趣的工作空间区域中显示出所需的特性。

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  • 来源
  • 会议地点 Sacramento CA(US);Sacramento CA(US)
  • 作者

    J. A. Carretero; M. Nahon; B. Buckham; C. M. Gosselin;

  • 作者单位

    Department of Mechanical Engineering University of Victoria Victoria, B.C., Canada. V8W 3P6 Email: jcarrete@me.uvic.ca;

    rnDepartment of Mechanical Engineering University of Victoria Victoria, B.C., Canada. V8W 3P6 Email: jcarrete@me.uvic.ca;

    rnDepartment of Mechanical Engineering University of Victoria Victoria, B.C., Canada. V8W 3P6 Email: jcarrete@me.uvic.ca;

    rnDepartement de Genie Mecanique Universite Laval Quebec, Qc, Canada. G1K 7P4 Email: gosselin@gmc.ulaval.ca;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械设计;
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