Share Email Print
cover

Proceedings Paper

Forward kinematic analysis on the parallel supporting structure of large opto-electronic equipment
Author(s): Gang Cheng; Shi-Rong Ge; Yong-Jian Wan
Format Member Price Non-Member Price
PDF $14.40 $18.00

Paper Abstract

According to the topologic system of parallel supporting structure, the geometrical constraints are obtained. And the forward kinematic model with analytical expressions can be established by eliminating the unknown terms. It is shown that the analytical solutions of the forward kinematic model have 16 groups. In order to decrease the number of solutions and get exact position-stance of the parallel structure, Newton-Raphson method is used to search the best numerical solutions by the judgement of terminal value. The corresponding numerical simulation proves that the exact forward solution can be found rapidly by iterative steps. Moreover, aiming at improving numerical precision, some measures on the choice of initial value and iterative step have been put forward. The forward kinematic model provides the basis of the perfect control of parallel supporting structure.

Paper Details

Date Published: 6 May 2009
PDF: 6 pages
Proc. SPIE 7281, 4th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Large Mirrors and Telescopes, 72810I (6 May 2009); doi: 10.1117/12.831442
Show Author Affiliations
Gang Cheng, China Univ. of Mining and Technology (China)
Shi-Rong Ge, China Univ. of Mining and Technology (China)
Yong-Jian Wan, Institute of Optics and Electronics (China)


Published in SPIE Proceedings Vol. 7281:
4th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Large Mirrors and Telescopes
Wenhan Jiang; Roland Geyl; Myung K. Cho; Fan Wu, Editor(s)

© SPIE. Terms of Use
Back to Top