Dimensional Design on the Six-Cable Driven Parallel Manipulator of FAST

	Dimensional Design on the Six-Cable Driven Parallel Manipulator of FAST
	Tang, Xiaoqiang 2; Yao, Rui 1
刊名	JOURNAL OF MECHANICAL DESIGN
	2011-11-01
卷号	133 期号:11
关键词	cable driven parallel manipulator dimensional design tension telescope
英文摘要	China is now building the world's largest single dish radio telescope in Guizhou province, which is called Five-hundred meter Aperture Spherical radio Telescope (FAST). The main purpose of this paper is to present an effective dimensional design method on the six-cable driven parallel manipulator of FAST. Sensitivity design method is adopted for the six-cable driven parallel manipulator of FAST. Cable has the capability to bear tension but not compression, so that cable driven parallel manipulator may not be controlled as expected if tension of one cable is small or zero. Therefore, for dimensional design of the six-cable driven parallel manipulator, three functions to evaluate tension performance were proposed. The tension performance functions can reflect the uniformity of cable tension and controllability of the six-cable driven parallel manipulator. According to the sensitivity design method and tension performance evaluating functions, a set of optimized dimensional parameters is calculated for constructing the six-cable driven parallel manipulator of FAST. In order to verify the optimization design result, a similarity model of the six-cable driven parallel manipulator was set up in Beijing. A serial of experiments shows that tension performance of the six-cable driven parallel manipulator satisfies the system's requirement. More importantly, it provides a theoretical reference for further study on dimensional design of a cable driven parallel manipulator with large span. [DOI:10.1115/1.4004988]
收录类别	SCI
语种	英语
WOS记录号	WOS:000298009000013
内容类型	期刊论文
源URL	[http://ir.bao.ac.cn/handle/114a11/7925]
专题	国家天文台_射电天文研究部
作者单位	1.Chinese Acad Sci, Natl Astron Observ, Beijing 100012, Peoples R China 2.Tsinghua Univ, Dept Precis Instruments & Mechanol, Beijing 100084, Peoples R China
推荐引用方式 GB/T 7714	Tang, Xiaoqiang,Yao, Rui. Dimensional Design on the Six-Cable Driven Parallel Manipulator of FAST[J]. JOURNAL OF MECHANICAL DESIGN,2011,133(11).
APA	Tang, Xiaoqiang,&Yao, Rui.(2011).Dimensional Design on the Six-Cable Driven Parallel Manipulator of FAST.JOURNAL OF MECHANICAL DESIGN,133(11).
MLA	Tang, Xiaoqiang,et al."Dimensional Design on the Six-Cable Driven Parallel Manipulator of FAST".JOURNAL OF MECHANICAL DESIGN 133.11(2011).