为了更好地对稀疏孔径大口径望远镜进行装调, 利用旋量理论对串联机械臂在系统装调中的应用进行了研究。首先, 利用旋量理论分析了串联机械臂进行稀疏孔径望远镜装调的基本原理。其次, 结合旋量理论与基本的几何关系分析了稀疏孔径望远镜装调原理, 并对子孔径测量过程进行了误差分析。之后, 对串联机械臂携带点光源显微镜(PSM)进行装调的可行性进行了分析与实验, 证明了处于串联机械臂携带状态的点光源显微镜与位于实验室环境下像点稳定性相近。最后, 分析了串联机械臂结合点光源显微镜在大口径稀疏孔径望远镜装调检测中的应用。

In order to align large sparse aperture telescope, the application of screw theory for assembling by the serial robot arm was investigated. Firstly, the basic principle of the serial robot arm alignment for large sparse aperture telescope was analyzed by screw theory. Secondly, based on the screw theory and geometric relation, the principle of the sparse aperture telescope assembling was analyzed and the error analysis was carried out. After that, the feasibility of the installation of point source microscope(PSM) on serial robot arm was analyzed and tested. It was proved that PSM on robot arm was similar to the case in laboratory environment for image stability. In the end, the application of serial robot arm combined with PSM in the large sparse aperture telescope alignment was analyzed.