FAST中的宏/微机器人概念及索张力的优化配置

Concept of parallel macro/micro manipulator and optimal scheme for cable tension in the FAST project

基于大射电望远镜FAST创新设计中悬索与Stewart平台两级调节方案 ,提出了并联宏 微机器人的概念 ;建立了悬索柔性机器人系统的逆运动学模型 ;针对悬索柔性的特点 ,在满足馈源电性能要求的前提下 ,提出了索系结构张力配置的优化方案 .计算结果表明该方案可使悬索张力的分布更加均匀 ,并可避免悬索虚牵 .这一方案也可用于其他并联悬索结构的张力配置 .

This paper proposes the concept of parallel macro/micro manipulator from the innovative design of the large radio telescope FAST. The authors build the inverse kinematics model of the flexible macro manipulator system. On the basis of the requirement of the feeds electrical target, the optimal scheme of tensions is designed. This project can make cables undergo a well proportioned tension and not slack. The optimal result shows that this design is effective. This optimal scheme can be used in other parallel flexible cable systems.