In this paper, a feed fine-tuning test platform (FFTTP), which consists of double Stewart-platform structures, is developed. The FFTTP is now used for the pre-research of the large radio telescope in China. It can measure the pose and trace the position of the end-effector, simultaneously. The device is introduced in detail firstly. And the forward dynamic problem of the FFTTP is discussed using Lagrange approach. Especially, the corresponding constraint equations are adopted to solve the motion-coupling problem between two mobile platforms. Finally, an example is given, and the simulating results indicate that this approach is effective to assure the stability of the end-effector. The results of the paper are the foundation to study the control precision of the FFTTP.

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