论文部分内容阅读
基于大射电望远镜FAST创新设计中悬索与Stewart平台两级调节方案 ,提出了并联宏 微机器人的概念 ;建立了悬索柔性机器人系统的逆运动学模型 ;针对悬索柔性的特点 ,在满足馈源电性能要求的前提下 ,提出了索系结构张力配置的优化方案 .计算结果表明该方案可使悬索张力的分布更加均匀 ,并可避免悬索虚牵 .这一方案也可用于其他并联悬索结构的张力配置 .
Based on the two-stage adjustment scheme of suspension cable and Stewart platform in FAST innovative design of large radio telescope, the concept of parallel macro-micro robot is proposed. The inverse kinematics model of suspension flexible robot system is established. According to the characteristics of suspension cable flexibility, The optimal scheme of the tension configuration of the cable system is put forward on the premise of the requirement of the source electrical performance.The calculation results show that the scheme can make the distribution of the cable tension more uniform and avoid the suspension of the cable.The scheme can also be used in other parallel Suspension structure of the tension configuration.