Dynamic modeling of the FAST cable-driven parallel robots
ZHAO Yacong1,2, WANG Qiming1
1. National Astronomical Observatories, Chinese Academy of Sciences, Beijing 100101, China; 2. University of Chinese Academy of Sciences, Beijing 100049, China
Abstract：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.
赵雅聪, 王启明. FAST索牵引并联机器人的动力学建模与仿真[J]. 清华大学学报（自然科学版）, 2022, 62(11): 1772-1779.
ZHAO Yacong, WANG Qiming. Dynamic modeling of the FAST cable-driven parallel robots. Journal of Tsinghua University(Science and Technology), 2022, 62(11): 1772-1779.
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2022, Vol. 62 
