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空间冗余索驱动并联机构的耦合振动特性研究 被引量:1
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作者 于金山 陶建国 +2 位作者 王国星 李潇 王浩威 《振动与冲击》 EI CSCD 北大核心 2023年第5期295-304,共10页
针对大型空间结构的在轨装配任务,提出了索驱动并联机构的方案,对其振动特性进行了研究。基于微分变换推导了机构的刚度矩阵,在此基础上建立了索并联机构的振动方程。通过理论计算分别分析了运动平台的位姿以及绳索拉力水平对机构振动... 针对大型空间结构的在轨装配任务,提出了索驱动并联机构的方案,对其振动特性进行了研究。基于微分变换推导了机构的刚度矩阵,在此基础上建立了索并联机构的振动方程。通过理论计算分别分析了运动平台的位姿以及绳索拉力水平对机构振动特性的影响,并通过仿真研究了不同工况下机构的振动规律。搭建了空间冗余索并联机构的缩比样机并开展了机构的振动特性试验,进一步验证了振动模型的正确性以及仿真结果的有效性。结果表明:运动平台在中心位置处时各阶模态是解耦的,不同方向的振动相互独立;在边缘位置处,各阶模态具有强耦合性,单方向的干扰力会引起多个方向的振动,且振动频率以一、二阶固有频率为主。研究结果对于索并联机构的振动控制具有指导意义。 展开更多
关键词 索并联机构(cdpm) 刚度 振动特性 固有频率
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Pose optimization of the FAST feed support system based on the new feed cabin mechanism 被引量:1
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作者 Jianing Yin Peng Jiang Rui Yao 《Science China(Physics,Mechanics & Astronomy)》 SCIE EI CAS CSCD 2023年第3期178-187,共10页
The Five-hundred-meter Aperture Spherical radio Telescope(FAST) is the largest and most sensitive single-dish radio telescope in the world and has made many important scientific achievements in a few years. Given the ... The Five-hundred-meter Aperture Spherical radio Telescope(FAST) is the largest and most sensitive single-dish radio telescope in the world and has made many important scientific achievements in a few years. Given the enormous scientific research potential of the Milky Way center, it is necessary to enhance the observation zenith angle as close to the Milky Way center as possible. In this regard, a new mechanism for the feed cabin is proposed with cables and sliders, which is lighter in weight and larger in the workspace. This paper will introduce this new feed cabin and the whole feed support system and establish their mechanical models to optimize the relevant control parameters, making FAST achieve an observation zenith angle of at least 50°with satisfying the required constraints. It indicates that the new mechanism designed by the FAST team can be used for the FAST upgrade and the future FAST array project. 展开更多
关键词 radio telescope cable-driven parallel robot mechanism optimization
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