Dynamic modeling of a cable-driven parallel robot with a Stewart platform for use in FAST
YIN Jianing1,2, JIANG Peng1, CHEN Ming3, YAO Rui1
1. Key Laboratory of FAST, National Astronomical Observatories, Chinese Academy of Sciences, Beijing 100101, China; 2. School of Astronomy and Space Science, University of Chinese Academy of Sciences, Beijing 100049, China; 3. Unit 32011, Chinese People's Liberation Army, Beijing 100094, China
Abstract：Five-hundred-meter aperture spherical radio telescope (FAST) uses a cable-driven parallel robot with a Stewart platform for precision positioning at the millimeter level. This paper presents a dynamic modeling method for this type of rigid-flexible mechanism which accurately models the cable and the Stewart platform and eliminates system vibrations by iterating the Newton-Euler equations of the intermediate structure between the two models. The nature of the coupled system vibrations is also analyzed to explain the impact of the Stewart platform's error compensation on the system motion with the error composition modeled numerically. This research will improve the FAST observation accuracy and provides a theoretical basis for control algorithms for this type of rigid-flexible mechanisms.
殷家宁, 姜鹏, 陈明, 姚蕊. FAST索驱动并联机器人与Stewart平台结合的动力学建模方法[J]. 清华大学学报（自然科学版）, 2022, 62(11): 1764-1771.
YIN Jianing, JIANG Peng, CHEN Ming, YAO Rui. Dynamic modeling of a cable-driven parallel robot with a Stewart platform for use in FAST. Journal of Tsinghua University(Science and Technology), 2022, 62(11): 1764-1771.
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2022, Vol. 62 
