论文标题
快速的电缆驱动的平行机器人的大致分析解决方案方法
An approximately analytical solution method for the cable-driven parallel robot in FAST
论文作者
论文摘要
FAST是最大的单端光圈望远镜，引入了电缆驱动的平行机器人，以达到世界上最高的灵敏度。但是，要实现高精度，这种机器人的机械方程总是很复杂，因此很难通过传统的迭代方法实现实时控制。在这方面，本文提出了一种近似分析的解决方案方法，该方法使用快速参数之间的近似线性关系以绕过一些迭代。通过提取的关系系数，可以分析静态或准静态机械方程。在本文的示例中，此方法节省了至少90％的计算时间，并且计算值与实验数据一致。随着效率如此大的提高，对快速的实时和高精度控制将不再是一项艰巨的工作。此外，预计本文中的所有作品都将在FAST中使用。
FAST is the largest single-dish aperture telescope with a cable-driven parallel robot introduced to achieve the highest sensitivity in the world. However, to realize the high-precision, mechanical equations of such robot are always complicated, so that it is difficult to achieve real-time control by the traditional iterative method. In this regard, this paper proposes an approximately analytical solution method, which uses the approximately linear relationship between the main parameters of FAST to bypass some iterations. With the coefficients of the relationship extracted, static or quasi-static mechanical equations can be analytically solved. In this paper's example, this method saves at least 90% of the calculating time and the calculated values are consistent with the experimental data. With such huge efficiency improvements, real-time and high-precision control of FAST will no longer be a difficult work. Besides, all the work in this paper is expected to be used in the FAST.
