A Weakly Decoupled Parallel Mechanism for Supporting and Adjusting the Main Focus Instrument of a Large Astronomical Telescope

Abstract

The invention provides a weak decoupling parallel mechanism for bearing and adjusting a large astronomical telescope main focal instrument. The main focal instrument bearing and adjusting mechanism is arranged between a telescope machine frame and a telescope main focal instrument and is characterized in that the main focal instrument bearing and adjusting mechanism is provided with a six-degree-of-freedom parallel mechanism with three translational degree-of-freedom and three rotational degree-of-freedom. The main focal instrument bearing and adjusting mechanism comprises a fixed platform, a moving platform, a first driving rod, a second driving rod, a third driving rod, a fourth driving rod, a fifth driving rod, a sixth driving rod, a seventh driving rod and an eighth driving rod. The two ends of each driving rod are respectively connected with the fixed platform and the moving platform via hinges. The main focal instrument is fixedly connected with the moving platform. The telescope machine frame is fixedly connected with the fixed platform. The main focal instrument bearing and adjusting mechanism has a weak decoupling kinematic characteristic. Control difficulty is reduced and specific stiffness is high, and capacity of bearing lateral load, axial load and upsetting moment is relatively high especially. The main focal instrument bearing and adjusting mechanism has no movement interference problem so that control is convenient.

Description

technical field [0001] The invention relates to the technical field of mechanical design and manufacture, in particular to a weakly decoupled parallel mechanism for supporting and adjusting the main focus instrument of a large astronomical telescope with a large diameter, long size and heavy load. The present invention is the research achievement of the following project: Chinese Academy of Sciences Astronomical Special Project: Six Degrees of Freedom Dynamic Compensation Mechanism (C-97). Background technique [0002] The main focus instrument of the traditional astronomical telescope uses a series mechanism for support adjustment. The design of this series mechanism is based on improving the rigidity of the structure to meet the relative position error requirements between the mirrors of the optical system. The advantage of this method is that the structure is stable, and it can fully meet the requirements of mirror support within a certain range. However, the defects of ...

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Problems solved by technology

[0012] The invention provides a weakly decoupled parallel mechanism for the support adjustment of the main focus instrument of a large astronomical telescope, which can solve the problem of the small specific stiffness of the traditional series mechanism, the small overturning moment bearing capacity of the traditional six-bar parallel mechanism, and the unfavorable kinematic coupling of the moving platform. problem of control

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