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Dimensional Design on the Six-Cable Driven Parallel Manipulator of FAST
Tang, Xiaoqiang2; Yao, Rui1
2011-11-01
发表期刊JOURNAL OF MECHANICAL DESIGN
卷号133期号:11
摘要China is now building the world's largest single dish radio telescope in Guizhou province, which is called Five-hundred meter Aperture Spherical radio Telescope (FAST). The main purpose of this paper is to present an effective dimensional design method on the six-cable driven parallel manipulator of FAST. Sensitivity design method is adopted for the six-cable driven parallel manipulator of FAST. Cable has the capability to bear tension but not compression, so that cable driven parallel manipulator may not be controlled as expected if tension of one cable is small or zero. Therefore, for dimensional design of the six-cable driven parallel manipulator, three functions to evaluate tension performance were proposed. The tension performance functions can reflect the uniformity of cable tension and controllability of the six-cable driven parallel manipulator. According to the sensitivity design method and tension performance evaluating functions, a set of optimized dimensional parameters is calculated for constructing the six-cable driven parallel manipulator of FAST. In order to verify the optimization design result, a similarity model of the six-cable driven parallel manipulator was set up in Beijing. A serial of experiments shows that tension performance of the six-cable driven parallel manipulator satisfies the system's requirement. More importantly, it provides a theoretical reference for further study on dimensional design of a cable driven parallel manipulator with large span. [DOI:10.1115/1.4004988]
关键词Cable Driven Parallel Manipulator Dimensional Design Tension Telescope
DOI10.1115/1.4004988
收录类别SCI
语种英语
WOS记录号WOS:000298009000013
引用统计
被引频次:11[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.bao.ac.cn/handle/114a11/7925
专题射电天文研究部
作者单位1.Chinese Acad Sci, Natl Astron Observ, Beijing 100012, Peoples R China
2.Tsinghua Univ, Dept Precis Instruments & Mechanol, Beijing 100084, Peoples R China
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Tang, Xiaoqiang,Yao, Rui. Dimensional Design on the Six-Cable Driven Parallel Manipulator of FAST[J]. JOURNAL OF MECHANICAL DESIGN,2011,133(11).
APA Tang, Xiaoqiang,&Yao, Rui.(2011).Dimensional Design on the Six-Cable Driven Parallel Manipulator of FAST.JOURNAL OF MECHANICAL DESIGN,133(11).
MLA Tang, Xiaoqiang,et al."Dimensional Design on the Six-Cable Driven Parallel Manipulator of FAST".JOURNAL OF MECHANICAL DESIGN 133.11(2011).
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