3370 KB32 KB199920252013Cheng, GangLi, HuiLiu, Hou-guangXu, PengYang, De-huaštevilka:5letnik:59str. 291-300, SI 56ISSN:0039-2480COBISSID:13072923URN:URN:NBN:SI:doc-JII0K0CRenAssociation of Mechanical Engineers and Technicians of Slovenia et al.Zveza strojnih inženirjev in tehnikov Slovenije et al.Strojniški vestnik3CPS parallel manipulatoractive adjusting platformaktivna nastavitvena platformaastronomski teleskopifotogrametrijakinematicskinematikaparalelni manipulatorjiphotogrammetryRodrigues parametersRodriguesovi parametrisegmentna zrcalatelescopesAnalysing kinematics of a novel 3CPS parallel manipulator based on Rodrigues parameters|In order to adjust the poses of the segment mirrors and give the correct surface shape to a large aperture telescope, an active adjusting platform for segment mirror with a novel 3CPS parallel manipulator as core module is proposed. The platform has 6 degree-of-freedoms (DOFs) including three translational freedoms and three rotational freedoms. Its kinematics are analysed systematically. By means of the Rodrigues parameters method, the formulae for solving the inverse/forward displacement, the inverse/forward velocity, and the inverse/ forward acceleration kinematics are derived. A numerical simulation of the kinematics model is then carried out combining the topological structure characteristics of the manipulator. The correctness of the kinematics model is verified by an experiment in which the pose of moving platform is measured using a photogrammetric methodTEXTznanstveno časopisjejournalsSlovenian National E-content AggregatorNational and University Library of SloveniaUniverza v Ljubljani, Fakulteta za strojništvo