摘要
本文针对大型射电天文望远镜 FAST中馈源系统的柔索结构及运动要求 ,提出了巨型柔性 Stewart平台的概念 ,并由馈源舱的非线性静平衡方程给出了解空间的定义 .通过计算发现六悬索巨型柔性 Stewart平台的工作空间中存在六个解空间为零的面 ,不能保证馈源舱连续平稳地做空间扫描 .在综合考虑馈源舱运行规律及悬索受力特点的基础上 ,本文通过增加两根向下拉的冗余悬索 ,设计了八悬索巨型柔性 Stewart平台 .计算结果表明八悬索巨型柔性 Stewart平台消除了解空间为零的位置 ,为大型射电天文望远镜 FAST中采用八悬索而不是六悬索巨型柔性
In this paper a concept of Huge Flexible Stewart Platform is presented for the suspending cable structure of large spherical radio telescope′s feed system, and the definition of its solution space is also made through feed cabin′s nonlinear static balance equation. There exist 6 plains on which 6 cable huge flexible Stewart platform′s solution space equals zero, so a continuous and stable space scanning of feed cabin can not be guaranteed. Based on the consideration of feed cabin′s running principle and forces on cables, 8 cable huge flexible Stewart platform is designed by adding 2 more pull down redundant cables. Solution space′s calculation result demonstrates that 8 cable huge flexible Stewart platform not only erase those position that solution space are zero, but also increase feed cabin′s working angle. The study in this paper provides theoretical basis and valuable data for FAST not using 6 cable but 8 cable huge flexible Stewart platform.
出处
《机器人》
EI
CSCD
北大核心
2001年第6期509-514,共6页
Robot
基金
国家自然科学基金( 5 96 75 0 40 )
中科院国家天文观测中心大型射电望远镜实验室经费支持基金
