Inverse kinematics model of parallel macro-micro manipulator system

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.