Singularity analysis of fine-tuning Stewart platform for large radio telescope using genetic algorithm
文献类型：期刊论文
| 作者 | Su, YX; Duan, BY; Peng, B ; Nan, RD
|
| 刊名 | MECHATRONICS
 |
| 出版日期 | 2003-06-01 |
| 卷号 | 13期号:5页码:413-425 |
| 关键词 | Stewart platform mechatronics singularity analysis genetic algorithm large radio telescope |
| 英文摘要 | A new singularity analysis method for general six degree-of-freedom (DOF) Stewart platform using genetic algorithm (GA) is proposed in this paper. The Jacobian matrix of Stewart platform is first deduced, then the square of determinant of the Jacobian matrix is selected as the objective function, and the minimal of this objective function is searched in the workspace of Stewart platform by the GA. The singularity of Stewart platform depends on this minimal objective function: if this value is zero, the singularity of Stewart platform will take place, otherwise, the Stewart platform is singularity-free. The effectiveness of this new genetic singularity analysis method is validated by the singularity analysis of a six-DOF fine-tuning Stewart platform for the next generation large radio telescope. The results have shown that the fine-tuning Stewart platform is singularity-free, which has laid a solid base for the requirement of high precision trajectory tracking for the next generation large radio telescope. (C) 2002 Elsevier Science Ltd. All rights reserved. |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000182125800001 |
| 源URL | [http://ir.bao.ac.cn/handle/114a11/8447]  |
| 专题 | 国家天文台_射电天文研究部 |
| 作者单位 | 1.Xidian Univ, Sch Electromech Engn, Xian 710071, Peoples R China 2.Chinese Acad Sci, Beijing Astron Observ, Beijing 100012, Peoples R China |
| 推荐引用方式 GB/T 7714 | Su, YX,Duan, BY,Peng, B,et al. Singularity analysis of fine-tuning Stewart platform for large radio telescope using genetic algorithm[J]. MECHATRONICS,2003,13(5):413-425. |
| APA | Su, YX,Duan, BY,Peng, B,&Nan, RD.(2003).Singularity analysis of fine-tuning Stewart platform for large radio telescope using genetic algorithm.MECHATRONICS,13(5),413-425. |
| MLA | Su, YX,et al."Singularity analysis of fine-tuning Stewart platform for large radio telescope using genetic algorithm".MECHATRONICS 13.5(2003):413-425. |
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来源：国家天文台
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