驱动链高速轴断裂所致FAST索牵引并联机器人的冲击振动仿真分析  

Simulation on high-speed-shaft-rupture-induced shock vibration of a cable-driven parallel robot of FAST

作　　者：李辉[1,2] 潘高峰[1,2] LI Hui PAN Gaofeng(National Astronomical Observatories, Chinese Academy of Sciences, Beijing 100012, China Key Laboratory of Radio Astronomy, Chinese Academy of Sciences, Beijing 100012, China)

机构地区：[1]中国科学院国家天文台,北京100012 [2]中国科学院射电天文重点实验室,北京100012

出　　处：《振动与冲击》2017年第12期75-82,共8页Journal of Vibration and Shock

基　　金：国家自然科学基金面上项目(11573044)

摘　　要：介绍了FAST望远镜的巨型柔索牵引并联机器人的构型和工作方式。对FAST柔索牵引并联机器人的塔-索-舱柔性悬挂系统在某一套索驱动单元的电机高速轴发生断裂,卷筒上的低速轴安全制动器随即启动的极端工况所引发的卷筒溜索量和柔性悬挂系统的冲击振动力进行了有限元仿真分析;总的仿真分析可分为三步进行,即柔性悬挂系统的静力学找形分析、卷筒溜索量分析和基于溜索量-时程曲线的系统动力学仿真分析;与此同时,仿真中采用了模拟塔柔性的质量-弹簧振子模型、简化的安全制动器制动力时程曲线和模拟索驱动设备的绳索-质量滑块系统等简化模型。计算结果表明,因高速轴断裂引发的冲击造成了柔性悬挂系统的大幅震荡,需要在系统详细设计中认真考虑。The configuration and working style of a huge scale cable -driven parallel robot （ CDPR ） of FA ST telescope was introduced in the p ape r. Dynamic finite element an a ly s is was sp e c ia l ly done to simulate the complicate response of its f lexible tower-c able -cabin suspension system under a kind of catastrophic accident that was cau sed by sudden rupture of the high-speed shaft of the motor within one certain cab le -driven machine of the robot. A s a re su l t ,the overbalanced steel cable began to fa l l and it in turn triggered the safety brake to function on the low-speed shaft of the cable drum and f inal ly to stop the fa l l in g of the c a b le . The whole process was accompanied by the cab le fa l l in g of the cab le drum and then the following shock vibration of the f le x ib le suspension system. The simulation was carried on three stages ： irst finding the equi librium shape of the suspension sy s tem , then computing the cab le fa l l in g on the d rum , fin a lly analyzing the shock vibration of the f le x ib le suspension system with the input of time curve of the cab le fa l l in g . Meanwhile a few simplified models were applied in the s imu la tion, such as the model of mass-spring vibrator for the tower s tru cture, the simplified force-time curve of the safety br a k e , the model of the rope-block sliding sy s tem , and so on. The simulation result shows that the overbalance shock by high-speed shaft rupture in duces large sca le vibration of the f le x ib le suspension system , which should be considered seriously in the future design .

关 键 词：FAST望远镜 索牵引并联机器人 高速轴断裂 冲击振动 动力学仿真 

分 类 号：O322[理学—一般力学与力学基础] TH113.1[理学—力学]