Abstract
Position and orientation adjustment of the secondary mirror is one of the effective ways to improve the image quality of space camera. In order to optimize the structural design of a 6-DOF Stewart platform for secondary mirror, simulation method of kinematics and dynamics of parallel manipulator based on virtual prototyping technology was studied. Firstly, the ADAMS parametric model and inverse mathematical model are built. Secondly, theory analysis of inverse kinematics of Stewart platform was performed, and the analytical results of inverse kinematics were obtained by mathematical modeling. Thirdly, simulation of inverse kinematics run in ADAMS after the virtual prototype of parallel manipulator was established. The simulation results in ADAMS and analysis results are consistent, which proved the correctness of the virtual prototype model. Lastly, the kinematics and inverse dynamics simulation were realized by driving each strut using result of inverse kinematics. The analysis method of kinematics and dynamics of parallel manipulator provided a theoretical basis for optimizing design of a Stewart platform.
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