The Kinematic Modeling and Simulation of an Adjustable Pivot Point of Six Degree-of-Freedom (DOF) Parallel Robot

摘要

Abstract For the pose requirements of secondary mirror in the large aperture space optical remote sensor, the pose adjustment is applied to the pivot point of secondary mirror. So the adjustable pivot point kinematic model must be set up. Based on the characteristics of the pivot point fixed with the moving platform, the corresponding coordinate system is built, and the adjustable pivot point kinematic model is established on the Euler rotation. Then virtual prototype model and the pivot point are built in ADAMS, and the kinematic simulation method is given. Finally, a 6-DOF parallel robot as secondary mirror pose adjustment device of an optical remote sensing system is taken as an example, and the adjustable pivot point kinematic model and ADAMS simulation method are carried out. The results show that the model and simulation method are correct and practical, which can be used in any field of a 6 DOF parallel robot with adjustable pivot point.