A real-coded genetic optimal kinematic design of a Stewart fine tuning platform for a large radio telescope

A real-coded genetic design methodology for an optimal kinematic Stewart pl atform is presented in this article. The Jacobian matrix connecting the dex terity performance of the parallel platform is first deduced, and then the condition number of Jacobian matrix is employed as the objective function t o implement the optimal kinematic design of Stewart fine tuning platform fo r a large spherical radio telescope. A niched-penalty approach is used to t ransform this optimal kinematic design problem to an unconstrained one, and a niching technique and the dynamic mutation operator are applied. A kinem atic accuracy comparison of the genetically designed Stewart fine tuning pl atform with the quasi-Newtonian designed platform is made. The comparison r esults have shown that the kinematic accuracy of the genetically designed S tewart fine tuning platform has a much higher accuracy and compact structur e than that of the quasi-Newtonian designed platform, which guarantees the implementation of high accuracy requirement of trajectory tracking and redu ces the disturbance of random wind for large radio telescopes. (C) 2001 Joh n Wiley & Sons, Inc.