An improved design, which employs the integration of optic, mechanical and
electronic technologies for the next generation large radio telescope, is p
resented in this note. The authors propose the concept of parallel macro-mi
cro manipulator system from the feed support structure with a rough tuning
subsystem based on a cable structure and a fine tuning subsystem based on t
he Stewart platform, According to the requirement of astronomical observati
on, the inverse kinematics model of this parallel macro-micro manipulator s
ystem is deduced. This inverse kinematics model is necessary for the comput
er-controlled motion of feed.