光学精密工程2026，Vol.34Issue(3)：438-449,12.DOI:10.37188/OPE.20263403.0438
基于同轴球面并联机构的望远镜跟踪架
Telescope tracking mount based on coaxial spherical parallel mechanism
摘要
Abstract
To enable electro-optical tracking with high dynamic response,high precision,and wide operat-ing range,a telescope tracking mount based on a coaxial spherical parallel mechanism(CSPM)is investi-gated.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 collisions and degree-of-freedom deficiency.The results indi-cate 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 attitudes.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 multi-key-posture pointing experiments,within the prescribed planning time,both attitude and angular velocity remain continuous and smoothly convergent,and the entire trajectory is free of singularities,further con-firming the excellent structural characteristics and motion capability of the CSPM-based telescope tracking mount.关键词
并联机构/望远镜跟踪架/运动学/工作空间/轨迹规划Key words
parallel mechanism/telescope mount/kinematics/workspace/trajectory planning分类
机械制造引用本文复制引用
宗永红,李希宇,高昕,郝三峰,雷呈强,丁华..基于同轴球面并联机构的望远镜跟踪架[J].光学精密工程,2026,34(3):438-449,12.基金项目
科技应用推进计划项目(No.145XXX050532000X) （No.145XXX050532000X）
