机器人2011，Vol.33Issue(5)：546-552,562,8.DOI:10.3724/SP.J.1218.2011.00546
重心时变的多级混联支撑系统终端精度分析
Terminal Accuracy Analysis of a Multi-level Hybrid Support System Based on Time-varying Barycenter
摘要
Abstract
In the multi-level hybrid feed support system of the Five-hundred-meter Aperture Spherical radio Telescope (FAST), the cabin's time-varying barycenter can cause the terminal feed receiver's pose error . In order to ensure the tracking accuracy of astronomical observations, firstly the elastic mechanics model of the cable-driven parallel mechanism is deduced, and the relationship between the cabin's barycenter location and the feed receiver's pose error is illustrated. Then the change law of the cabin's barycenter is studied. Finally, the Newton-Raphson method is adopted to iteratively get the range of the feed receiver's pose error caused by the time-varying barycenter. The maximum position and orientation errors are respectively 120 mm and 1.40°, which can't meet the astronomical observations' accuracy requirement. So the cabin-barycenter change should be considered in the prototype design, vibration control and precision control.关键词
索并联机构/多级混联系统/时变重心/位姿误差Key words
cable-driven parallel manipulator, multi-level hybrid system/ time-varying barycenter/ pose error分类
信息技术与安全科学引用本文复制引用
柴晓明,唐晓强,邵珠峰..重心时变的多级混联支撑系统终端精度分析[J].机器人,2011,33(5):546-552,562,8.基金项目
国家自然科学基金资助项目(50975149) （50975149）
国家科技重大专项资助项目(2009ZX04001-042-02). （2009ZX04001-042-02）
