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An approximately analytical solution method for the cable-driven parallel robot in FAST
Yin, Jia-Ning1,2; Jiang, Peng1; Yao, Rui1
2021-03-01
Source PublicationRESEARCH IN ASTRONOMY AND ASTROPHYSICS
ISSN1674-4527
Volume21Issue:2Pages:11
AbstractThe Five-hundred-meter Aperture Spherical radio Telescope (FAST) is the largest single-dish aperture telescope with a cable-driven parallel robot introduced to achieve the highest sensitivity in the world. However, to realize the high-precision, mechanical equations of such a robot are always complicated, so that it is difficult to achieve real-time control by the traditional iterative method. In this regard, this paper proposes an approximately analytical solution method, which uses the approximately linear relationship between the main parameters of FAST to bypass some iterations. With the coefficients of the relationship extracted, static or quasi-static mechanical equations can be analytically solved. In this paper's example, this method saves at least 90% of the calculating time and the calculated values are consistent with the experimental data. With such huge efficiency improvements, real-time and high-precision control of the FAST will no longer be difficult work. Besides, all the work in this paper is expected to be used in the FAST.
Keywordtelescopes methods analytical instrumentation miscellaneous
Funding OrganizationNational Natural Science Foundation of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Youth Innovation Promotion Association CAS ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Youth Innovation Promotion Association CAS ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Youth Innovation Promotion Association CAS ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Youth Innovation Promotion Association CAS ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences
DOI10.1088/1674-4527/21/2/46
Language英语
Funding ProjectNational Natural Science Foundation of China[11673039] ; National Natural Science Foundation of China[11973062] ; Youth Innovation Promotion Association CAS ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences
Funding OrganizationNational Natural Science Foundation of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Youth Innovation Promotion Association CAS ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Youth Innovation Promotion Association CAS ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Youth Innovation Promotion Association CAS ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Youth Innovation Promotion Association CAS ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; Key Laboratory of FAST, NAOC, Chinese Academy of Sciences
WOS Research AreaAstronomy & Astrophysics
WOS SubjectAstronomy & Astrophysics
WOS IDWOS:000631533100001
PublisherNATL ASTRONOMICAL OBSERVATORIES, CHIN ACAD SCIENCES
Citation statistics
Document Type期刊论文
Identifierhttp://ir.bao.ac.cn/handle/114a11/78832
Collection中国科学院国家天文台
Corresponding AuthorYin, Jia-Ning
Affiliation1.Chinese Acad Sci, Natl Astron Observ, Beijing 100101, Peoples R China
2.Univ Chinese Acad Sci, Sch Astron & Space Sci, Beijing 100049, Peoples R China
Recommended Citation
GB/T 7714
Yin, Jia-Ning,Jiang, Peng,Yao, Rui. An approximately analytical solution method for the cable-driven parallel robot in FAST[J]. RESEARCH IN ASTRONOMY AND ASTROPHYSICS,2021,21(2):11.
APA Yin, Jia-Ning,Jiang, Peng,&Yao, Rui.(2021).An approximately analytical solution method for the cable-driven parallel robot in FAST.RESEARCH IN ASTRONOMY AND ASTROPHYSICS,21(2),11.
MLA Yin, Jia-Ning,et al."An approximately analytical solution method for the cable-driven parallel robot in FAST".RESEARCH IN ASTRONOMY AND ASTROPHYSICS 21.2(2021):11.
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