基于FAST馈源支撑系统的索牵引并联机构的力学分析  

Mechanical Analysis on Cable-Driven Parallel Mechanism Based on FAST Feed Support System

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：《机器人》2023年第4期431-438,450,共9页Robot

基　　金：国家自然科学基金(11973062).

摘　　要：对FAST(500米口径球面射电望远镜)馈源支撑系统中的索牵引并联机构进行了力学分析。首先,在考虑钢索自重及弹性变形的情况下,建立了静力平衡状态单根钢索的悬链线模型;然后,采用绝对节点坐标法对变长度单元进行描述,进一步得到整根钢索的动力学模型;利用钢索与馈源舱之间的约束以及钢索出索点的约束得到六索牵引并联机构的动力学方程;对建立的索牵引并联机构的动力学模型进行数值计算和仿真,并将FAST实际运行中的钢索速度代入模型中进行验证。仿真结果表明了钢索动态特性对馈源舱位姿的影响,并且馈源舱位姿的仿真数据和实际观测数据趋势相吻合,最大相对误差不超过20%。The mechanics principle of the cable-driven parallel mechanism in the feed support system of FAST(five-hundred-meter aperture spherical radio telescope)is analyzed.Firstly,catenary model of a single cable in static equilibrium state is established considering both the dead-weight and elastic deformation of the cable.Then,the length-varying cable element is described by the absolute nodal coordinate formulation,and the dynamic model of the whole cable is obtained further.The dynamic equation of six-cable-driven parallel mechanism is obtained by using the constraint between the cable and the feed-cabin,and the constraint of the cable outlet point.Finally,the numerical calculation and simulation of the established model are carried out,speed of the cable in the operation of FAST is substituted into the model for verification.The simulation results show the influence of the dynamic characteristics of the cable on the pose of the feed-cabin,and the consistency of the simulation data of the feed cabin pose and the trend of the actual observation data,where the maximum relative error is not more than 20%.

关 键 词：FAST(500米口径球面射电望远镜) 索牵引并联机构 绝对节点坐标法 变长度钢索单元 静力学 动力学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]