Dynamic modeling of the FAST cable-driven parallel robots

ZHAO Yacong; WANG Qiming

doi:10.16511/j.cnki.qhdxxb.2022.26.022

PDF(3524 KB)

Journal of Tsinghua University(Science and Technology) ›› 2022, Vol. 62 ›› Issue (11) : 1772-1779. DOI: 10.16511/j.cnki.qhdxxb.2022.26.022

Research Article

Dynamic modeling of the FAST cable-driven parallel robots

{{article.zuoZhe_EN}}

Author information +

History +

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.

Key words

FAST / cable-driven parallel robots / variable length flexible cable / dynamics model / dynamics simulations

Cite this article

EndNote

Ris (Procite)

Bibtex

Download Citations

ZHAO Yacong, WANG Qiming. Dynamic modeling of the FAST cable-driven parallel robots[J]. Journal of Tsinghua University(Science and Technology). 2022, 62(11): 1772-1779 https://doi.org/10.16511/j.cnki.qhdxxb.2022.26.022

References

[1] NAN R D. Five-hundred-meter aperture spherical radio telescope (FAST)[J]. Science in China Series G:Physics, Mechanics & Astronomy, 2006, 49(2):129-148.
[2] 黄亮, 朱文白, 唐晓强. 大射电望远镜巨型柔性并联机构悬索分析及简化[J]. 天文研究与技术, 2013, 10(1):77-84. HUANG L, ZHU W B, TANG X Q. Analysis and a simplified model of the cable of a large-scale flexible parallel manipulator for a large radio telescope[J]. Astronomical Research & Technology, 2013, 10(1):77-84. (in Chinese)
[3] YIN J N, JIANG P, YAO R. An approximately analytical solution method for the cable-driven parallel robot in FAST[J]. Research in Astronomy and Astrophysics, 2021, 21(2):46.
[4] 李辉, 孙京海, 朱文白, 等. 500m口径球面射电望远镜柔性馈源支撑系统仿真[J]. 计算机辅助工程, 2011, 20(1):106-112. LI H, SUN J H, ZHU W B, et al. Simulation on flexible feed support system of five-hundred-meter aperture spherical radio telescope[J]. Computer Aided Engineering, 2011, 20(1):106-112. (in Chinese)
[5] DU J L, BAO H, CUI C Z, et al. Dynamic analysis of cable-driven parallel manipulators with time-varying cable lengths[J]. Finite Elements in Analysis and Design, 2012, 48(1):1392-13.
[6] SHABANA A A. Flexible multibody dynamics:Review of past and recent developments[J]. Multibody System Dynamics, 1997, 1(2):189-222.
[7] 吴懋琦, 谭述君, 高飞雄. 基于绝对节点坐标法的平面梁有限变形下变形重构[J]. 力学学报, 2021, 53(10):2776-2789. WU M Q, TAN S J, GAO F X. Shape reconstruction of plane beam with finite deformation based on absolute nodal coordinate formulation[J]. Chinese Journal of Theoretical and Applied Mechanics, 2021, 53(10):2776-2789. (in Chinese)
[8] LUO C Q, SUN J L, WEN H, et al. Dynamics of a tethered satellite formation for space exploration modeled via ANCF[J]. Acta Astronautica, 2020, 177:882-890.
[9] 王忠民, 吴力国. 基于变长度单元ANCF的轴向伸展悬臂梁振动分析[J]. 振动与冲击, 2019, 38(3):186-191. WANG Z M, WU L G. Vibration analysis of axially deploying cantilever beam based on ANCF with length-varying beam element[J]. Journal of Vibration and Shock, 2019, 38(3):186-191. (in Chinese)
[10] BULÍN R, HAJŽMAN M, POLACH P. Nonlinear dynamics of a cable-pulley system using the absolute nodal coordinate formulation[J]. Mechanics Research Communications, 2017, 82:21-28.
[11] FERRAVANTE V, RIVA E, TAGHAVI M, et al. Dynamic analysis of high precision construction cable-driven parallel robots[J]. Mechanism and Machine Theory, 2019, 135:54-64.
[12] 齐朝晖, 曹艳, 王刚. 多柔体系统数值分析的模型降噪方法[J]. 力学学报, 2018, 50(4):863-870. QI Z H, CAO Y, WANG G. Model smoothing methods in numerical analysis of flexible multibody systems[J]. Chinese Journal of Theoretical and Applied Mechanics, 2018, 50(4):863-870. (in Chinese)
[13] BERZERI M, SHABANA A A. Development of simple models for the elastic forces in the absolute nodal co-ordinate formulation[J]. Journal of Sound and Vibration, 2000, 235(4):539-565.
[14] WAGO T, KOBAYASHI N, SUGAWARA Y. Improvement on evaluating axial elastic force in Bernoulli-Euler beam based on the absolute nodal coordinate formulation by accurate mean axial strain measure[C]//Proceedings of ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Washington, USA:American Society of Mechanical Engineers, 2011:963-970.
[15] 姚蕊, 唐晓强, 李铁民, 等. 大型射电望远镜馈源定位3T索牵引并联机构分析与设计[J]. 机械工程学报, 2007, 43(11):105-109. YAO R, TANG X Q, LI T M, et al. Analysis and design of 3T cable-driven parallel manipulator for the feedback's orientation of the large radio telescope[J]. Chinese Journal of Mechanical Engineering, 2007, 43(11):105-109. (in Chinese)