巨型柔性Stewart平台解空间、工作空间的研究及悬索张力的优化分析

STUDY ON SOLUTION SPACE,WORKING SPACE AND CABLE TENSION'S OPTIMIZED ANALYSIS FOR HUGE FLEXIBLE STEWART PLATFORM

针对大型射电天文望远镜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。重点论述了柔性悬索的虚牵问题并给出了判定准则。定义并分析了巨型柔性Ｓｔｅｗａｒｔ平台解空间，指出解空间不为零是动平台能够到达某一位置并保持应有姿态的充分条件。提出了悬索张力优化的均匀原则。定义了巨型柔性Ｓｔｅｗａｒｔ平台的工作空间并应用馈源舱的非线性静力平衡方程研究了相应的算法。不但使馈源系统实现平稳控制成为可能，而且为高精度的大型射电天文望远镜提供了必要的设计参数。

A concept of huge flexible Stewart platform is presented for the suspending cable structure of large spherical radio telescope's feed system. The catenary equations of cables and the static equilibrium equations of feed cabin are derived. The problem of unique solution is discussed considering such factors as pseudo-drag, solution space, and working space. An optimization algorithm is proposed to distribute the load ideally among cables, thereby avoid pseudo-drag of cables. Feed cabin's extreme working position, extreme working altitude, and extreme working angle are determined by nonlinear static equations.