基于同轴球面并联机构的望远镜跟踪架OA

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.