Precision Analysis and Error Compensation of a Telescope Truss Structure Based on Robotics
We propose a new secondary mirror support structure assisted by multi-robotics to improve the observation performance of vehicle-mobile telescope systems. A mathematical model of the displacement at the end of the robotic and the variation of telescope pitch angle is established, then the posture of...
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MDPI AG
2020-09-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/10/18/6424 |
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| author | Rui Wang Fuguo Wang Yuyan Cao Honghao Wang Xueqian Sun Fuhe Liu |
| author_facet | Rui Wang Fuguo Wang Yuyan Cao Honghao Wang Xueqian Sun Fuhe Liu |
| author_sort | Rui Wang |
| collection | DOAJ |
| description | We propose a new secondary mirror support structure assisted by multi-robotics to improve the observation performance of vehicle-mobile telescope systems. A mathematical model of the displacement at the end of the robotic and the variation of telescope pitch angle is established, then the posture of the robotic is optimized by the Jacobian matrix iteration inverse kinematic problem method. Based on the new support structure, a high-order sensitivity matrix is proposed to establish the mapping relationship between the robotic misalignment and the Zernike coefficient, with the accuracy verified via the Monte Carlo method. The method of adjusting the secondary mirror to compensate the aberration caused by the primary mirror is proposed, and the relationship between the primary mirror surface error and the system error is established under different pitch angles before and after compensation. The experiment and simulation results showed that the adjustment calculated by the high-order sensitivity matrix method can effectively compensate for the misalignment caused by the robotics and the primary mirror surface error to a certain degree. After multiple iterations, the root mean square of the wavefront aberration was better than <inline-formula><math display="inline"><semantics><mrow><mi>λ</mi><mo>/</mo><mn>15</mn></mrow></semantics></math></inline-formula>. This conclusion provides an engineering application reference value for the secondary mirror support and aberration correction technology of the vehicle telescope system. |
| first_indexed | 2024-03-10T16:19:20Z |
| format | Article |
| id | doaj.art-285d9e8ba65a441d83030e375dacec21 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T16:19:20Z |
| publishDate | 2020-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-285d9e8ba65a441d83030e375dacec212023-11-20T13:48:52ZengMDPI AGApplied Sciences2076-34172020-09-011018642410.3390/app10186424Precision Analysis and Error Compensation of a Telescope Truss Structure Based on RoboticsRui Wang0Fuguo Wang1Yuyan Cao2Honghao Wang3Xueqian Sun4Fuhe Liu5Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaWe propose a new secondary mirror support structure assisted by multi-robotics to improve the observation performance of vehicle-mobile telescope systems. A mathematical model of the displacement at the end of the robotic and the variation of telescope pitch angle is established, then the posture of the robotic is optimized by the Jacobian matrix iteration inverse kinematic problem method. Based on the new support structure, a high-order sensitivity matrix is proposed to establish the mapping relationship between the robotic misalignment and the Zernike coefficient, with the accuracy verified via the Monte Carlo method. The method of adjusting the secondary mirror to compensate the aberration caused by the primary mirror is proposed, and the relationship between the primary mirror surface error and the system error is established under different pitch angles before and after compensation. The experiment and simulation results showed that the adjustment calculated by the high-order sensitivity matrix method can effectively compensate for the misalignment caused by the robotics and the primary mirror surface error to a certain degree. After multiple iterations, the root mean square of the wavefront aberration was better than <inline-formula><math display="inline"><semantics><mrow><mi>λ</mi><mo>/</mo><mn>15</mn></mrow></semantics></math></inline-formula>. This conclusion provides an engineering application reference value for the secondary mirror support and aberration correction technology of the vehicle telescope system.https://www.mdpi.com/2076-3417/10/18/6424posture optimizationerror analysissecondary mirror trussroboticswavefront aberration compensationvehicle-mobile telescope |
| spellingShingle | Rui Wang Fuguo Wang Yuyan Cao Honghao Wang Xueqian Sun Fuhe Liu Precision Analysis and Error Compensation of a Telescope Truss Structure Based on Robotics Applied Sciences posture optimization error analysis secondary mirror truss robotics wavefront aberration compensation vehicle-mobile telescope |
| title | Precision Analysis and Error Compensation of a Telescope Truss Structure Based on Robotics |
| title_full | Precision Analysis and Error Compensation of a Telescope Truss Structure Based on Robotics |
| title_fullStr | Precision Analysis and Error Compensation of a Telescope Truss Structure Based on Robotics |
| title_full_unstemmed | Precision Analysis and Error Compensation of a Telescope Truss Structure Based on Robotics |
| title_short | Precision Analysis and Error Compensation of a Telescope Truss Structure Based on Robotics |
| title_sort | precision analysis and error compensation of a telescope truss structure based on robotics |
| topic | posture optimization error analysis secondary mirror truss robotics wavefront aberration compensation vehicle-mobile telescope |
| url | https://www.mdpi.com/2076-3417/10/18/6424 |
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