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提出了利用一种可实现一个移动和两个转动的小型3自由度(3-DOF)并联机构来控制支撑激光聚焦次镜的方案。采用传统的欧拉角描述动平台运动方式,建立了小型3-PRS机构的运动学模型,分析了机构的正、逆运动学性能,进行了包括约束雅克比矩阵的建立和伴生运动的求解。基于运动学分析,定性分析了机构的奇异位形。联合ADAMS与MATLAB,计算了机构的可达工作空间,动平台绕x轴最大运动角度为±15.167 1°;绕y轴最大运动角度为±13.319 4°;沿z轴方向的移动大约为9.954 1 mm,分析证明该小型3-PRS机构完全满足支撑激光聚焦次镜结构的设计要求。
Proposed the use of a small 3-DOF (3-DOF) parallel mechanism which can realize one movement and two rotations to control the support laser focusing secondary mirror. The kinematic model of small 3-PRS mechanism is established by using the traditional Euler angles. The positive and inverse kinematics of the mechanism are analyzed. The establishment of constrained Jacobi matrix and the solution of the associated motion are carried out. Based on the kinematic analysis, the singularity of the mechanism is qualitatively analyzed. Combined with ADAMS and MATLAB, the reachable working space of the mechanism is calculated. The maximum moving angle of the movable platform about the x axis is ± 15.167 1 °; the maximum movement angle about the y axis is ± 13.319 4 °; the movement along the z axis is about 9.954 1 mm, the analysis proves that the small 3-PRS mechanism fully meets the design requirements of the secondary mirror structure supporting the laser focusing.