The application of the Stewart platform in large spherical radio telescopes

For the requirement of trajectory tracking of large spherical radio telescopes, a large fine tuning platform based on the Stewart platform is presented in this paper. The mathematical model for kinematics control is developed with coordinate transformation, and a dynamic analysis is made using a Jacobian matrix. Furthermore, the singularity analysis of the designed platform is also made using the determinant of the Jacobian matrix, which has built a solid base for the tracking control. The kinematics accuracy is obtained by position vector analysis. These results have shown the validity of the designed fine tuning platform for the feed source trajectory tracking control of large spherical radio telescopes.