大射电望远镜精调平台结构参数优化设计

Optimization of Structural Parameters on Fine-tuning Platform for Large Spherical Radio Telescope

精调平台的结构参数对其运动性能有极为重要的影响。本文首先推导了并联型平台的 Jacobian矩阵 ,然后论述了选择 Jacobian矩阵的条件数作为优化设计目标函数的合理性 ,并以 Jacobian矩阵的条件数为优化设计目标函数 ,优化了精调平台的结构参数 。

The structural parameters have great influence on the kinematics behavior of the fine-tuning platform for the next generation large radio telescope. The Jacobian matrix connecting the dexterity performance of the fine tuning platform is first deduced, and then use the condition number of the Jacobian matrix as the optimization objective to proceed the structural optimization. The optimization results are also presented, which lay a solid base for high accuracy trajectory control of large radio telescopes.