关键词: Stewart平台, 大型射电望远镜, 力奇异性, 力冗余性

Abstract: Considering the similarity on the operating mechanism between the cable and cabin system of next generation large radio telescope and Stewart platform manipulator, the cable and cabin system is viewed as a general Stewart platform. To eliminate the force singularity in the system, a redundant cable is added into the general Stewart platform. Both the determinant and condition number of jacobian matrix between cables’ tensions and external loads are utilized to describe the force singularity in the original system. On the other hand, they are utilized to show the prominent effect on the elimination of force singularity with the redundant cable.

Key words: Force redundancy, Force singularity, Large radio telescope, Stewart platform manipulator