基于6-UPS并联机器人的副面调整机构设计

针对奇台110 m口径全可动射电望远镜（QiTai radio Telescope, QTT）天线副面调整机构的技术指标，文中提出了一种基于6-UPS并联机器人的副面调整机构。分别利用多刚体动力学分析和控制仿真软件对副面调整机构进行了虚拟样机建模和动力学仿真，得出副面调整机构运动关节在天线指天和仰平两种工况下从零位运动至指定位姿所需要的最大驱动力。进一步建立了大射电望远镜副面调整机构的有限元模型，对其零位时的结构进行了模态分析，得到了前6阶固有频率，为工程设计提供了理论参考。

Design of Sub-reflector Adjustment Mechanism Based on 6-UPS Parallel Robot

Aiming at the technical indicators of the sub-reflector adjustment mechanism of the QiTai 110 m aperture fully movable radio Telescope (QTT), a sub-reflector adjustment mechanism based on the 6-UPS parallel robot is proposed in this paper. The virtual prototype modeling and the dynamic simulation for the sub-reflector adjustment mechanism are carried out by using the multi-rigid-body dynamics analysis software and the control simulation software respectively. Then, the maximum driving forces required by the motion joint of the sub-reflector adjustment mechanism when it moves from the original position to the specified position under the conditions of 0° and 90° elevation angle of the main reflector are obtained. Moreover, a finite element model of the sub-reflector adjustment mechanism of a large radio telescope is established. Modal analysis is carried out for the structure of the large radio telescope when it is in the original position, and the first six natural frequencies are obtained, which provides a theoretical reference for the engineering design.