FAST馈源舱绳牵引并联支撑系统的机构设计

Mechanism Design of a Wire-Driven Parallel Suspension System for the Feed Cabin of Fast

在不考虑驱动系统功率大小的限制和机构的组成要素满足一定理想条件下,以舱体实现2个转动自由度和3个平动自由度为前提,从绳牵引并联机构学的角度出发,为500 m口径球面大射电望远镜(FAST)的馈源支撑寻找可行的机构类型.结果表明,6根绳牵引的6自由度的不完全约束定位机构(IRPM)、6自由度的完全约束定位机构(CRPM),以及6自由度的过约束定位机构(RRPM)都是可选的机构类型,但各自要解决的关键技术并不相同.

Disregarding further restrictions due to currently available technology and considering that the elements of wire-driven parallel manipulators are in the ideal conditions, mechanism configuration of the wire-driven parallel suspension system for the feed cabin of five-hundred-meter aperture spherical telescope （FAST） is studied to fulfill that the feed cabin can move in the 3 dimensional space with 3-degree-of-freedom （3-DOF） translation and 2-DOF rotation. The results of research show that 6-DOF imcompletely restrained positioning mechanisms （IRPMs） with 6 wires, 6-DOF completely restrained positioning mechanisms （CRPMs） and 6-DOF redundantly restrained positioning mechanisms （RRPMs） are optional, but the respective key issues are different when they are used. A kind of IRPM with 3R3T type is introduced to the use of the wire-driven parallel suspension system for the feed cabin of FAST, and the simulation results of the translational feed trace show the correctness of the mechansim configuration.