FAST索牵引并联机器人的动力学建模与仿真  

Dynamic modeling of the FAST cable-driven parallel robots

作　　者：赵雅聪 王启明[1] ZHAO Yacong;WANG Qiming(National Astronomical Observatories,Chinese Academy of Sciences,Beijing 100101,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院国家天文台,北京100101 [2]中国科学院大学,北京100049

出　　处：《清华大学学报（自然科学版）》2022年第11期1772-1779,共8页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金资助项目(11973062)。

摘　　要：500m口径球面射电望远镜(five-hundred-meter aperture spherical radio telescope,FAST)中馈源支撑系统是一个巨型的索牵引并联机器人,钢索牵引动平台在数百米空间内运动,包含变长度柔性索的运动和动平台的刚体运动。该文以索牵引并联机器人为研究对象,首先,采用绝对节点坐标法建立变长度钢索单元模型,并以此为基础利用虚功原理建立变长度索单元的动力学方程组;其次,对刚性动平台进行动力学分析,利用钢索与动平台间的约束得到六索牵引并联机器人整体的动力学方程组,其中包含柔性索和动平台的自由度;最后,使用MATLAB对建立的动力学模型进行了数值计算及仿真,将所得的仿真数据与对应的FAST实际运行数据进行对比,验证了该模型的可行性。The feed support system of the five-hundred-meter aperture spherical radio telescope(FAST)is a kind of giant cable-driven parallel robot that uses flexible cables to move the platform in the working space.Thus,the system combines variable length flexible cables and rigid body motion.This study analyzed the cable-driven parallel robot.The variable length cable elements were analyzed based on the absolute node coordinate method,the dynamic equations of the cable elements were then derived using the virtual work principle.Then,the dynamics of the rigid moving platform were analyzed,the dynamics equations of the cable-driven parallel robot with constraints between the cables and the moving platform were derived.Thus,the model included the degrees of freedom of the flexible cables and the platform.MATLAB was used for the simulations.The results compare well with measured data to verify the model feasibility.

关 键 词：FAST 索牵引并联机器人 变长度柔索 动力学模型 动力学仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]