基于同轴球面并联机构的望远镜跟踪架
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关键词：并联机构；望远镜跟踪架；运动学；工作空间；轨迹规划
中图分类号：TH743 文献标识码：Adoi：10.37188/OPE.20263403.0438 CSTR：32169.14.OPE.20263403.0438
Telescope tracking mount based on coaxial sphericalparallelmechanism
ZONG Yonghong 1，3 ，LI Xiyu 1，2* ，GAO Xin 1，3 ，HAO Sanfeng 1，3 ，LEI Chengqiang¹，DING hua 4
（1.Beijing Institute of Tracking and Telecommunications Technology，Beijing 1Ooo94， China;
2. National Key Laboratory of Space Integrated Information System， Beijing 1Ooo94， China;
3.National Key Laboratory of Space Security，Beijing lOoO94，China;
4. Equipment Project Management Centre，Beijing 1Ooo94，China） * Corresponding author， E-mail： lixiyul9900910@l63. com
Abstract： To enable electro-optical tracking with high dynamic response，high precision，and wide operating range，a telescope tracking mount based on a coaxial spherical parallel mechanism （CSPM） is investigated.First，forward and inverse kinematic models are formulated using geometric vector relations and screw theory. A solution strategy is then developed in which a trust-region iterative scheme，combined with assembly-mode constraints，is applied to determine a unique kinematically feasible solution. Next， the Jacobian-based condition number is evaluated and，together with inter-limb angle constraints，is used to characterize a practical workspace free of colisions and degree-of-freedom deficiency. The results indicate that the mount provides an elevation（pitch） range of 48.4∘-131.6∘ ，while the azimuth is unbounded. Finally，a trajectory-planning method is proposed that integrates unit-quaternion SLERP with cubic Bézier velocity smoothing，thereby ensuring continuous and smooth transitions between atitudes.Experimental results show that the proposed kinematic solution method achieves an angular error on the order of 10-11 deg，demonstrating strong consistency between the kinematic model and the numerical solver. In multikey-posture pointing experiments，within the prescribed planning time，both atitude and angular velocity remain continuous and smoothly convergent，and the entire trajectory is free of singularities，further confirming the excellnt structural characteristics and motion capability of the CSPM-based telescope tracking mount.
Key words： parallel mechanism； telescope mount; kinematics；workspace； trajectory planning
1引言
目前，光学望远镜多采用串联式的驱动结构，其跟踪架由方位轴系和俯仰轴系组成[1-2]，结构简单，技术成熟，但是方位轴系带动俯仰轴电机和镜筒同步转动导致系统转动惯量较大，系统带宽通常较低、响应速度慢。（剩余15316字）
