Dynamic modeling of the FAST cable-driven parallel robots

被引：0
|
作者：
Zhao Y. [1 ,2 ]
Wang Q. [1 ]
机构：
[1] National Astronomical Observatories, Chinese Academy of Sciences, Beijing
[2] University of Chinese Academy of Sciences, Beijing
来源：
Qinghua Daxue Xuebao/Journal of Tsinghua University | 2022年 / 62卷 / 11期
关键词：
cable-driven parallel robots; dynamics model; dynamics simulations; FAST; variable length flexible cable;
D O I：
10.16511/j.cnki.qhdxxb.2022.26.022
中图分类号：
学科分类号：
摘要：
The feed support system of the five-hundred-meter aperture spherical radio telescope (FAST) is a kind of giant cable-driven parallel robot that uses flexible cables to move the platform in the working space. Thus, the system combines variable length flexible cables and rigid body motion. This study analyzed the cable-driven parallel robot. The variable length cable elements were analyzed based on the absolute node coordinate method, the dynamic equations of the cable elements were then derived using the virtual work principle. Then, the dynamics of the rigid moving platform were analyzed, the dynamics equations of the cable-driven parallel robot with constraints between the cables and the moving platform were derived. Thus, the model included the degrees of freedom of the flexible cables and the platform. MATLAB was used for the simulations. The results compare well with measured data to verify the model feasibility. © 2022 Press of Tsinghua University. All rights reserved.
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页码：1772 / 1779
页数：7
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