Driving force analysis for the secondary adjustable system in FAST
Driving force analysis for the secondary adjustable system in FAST
复制标题
FAST二次可调系统驱动力分析
DOI：
10.1017/s0263574711000117
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发表时间：
2011-02
期刊：
影响因子：
2.7
通讯作者：
Wang, Li-Ping
中科院分区：
文献类型：
--
作者：
Shao, Zhu-Feng;Tang, Xiaoqiang;Chen, Xu;Wang, Li-Ping
次级可调系统（SAS）是500米口径球面射电望远镜（FAST）的核心部件。它是一个6自由度的刚性Stewart机械臂，当另一个平台（表示为基座）运动时，需要控制一个平台（末端执行器）跟踪期望的轨迹。SAS的驱动力分析是选择合理的伺服电机和保证其动态性能的基础，直接影响FAST的终端位姿精度。为了确定SAS的驱动力，采用牛顿-欧拉方法，在考虑基座运动的情况下建立了Stewart机械手的逆动力学模型。与传统的动态模型相比，本文所引入的逆动态模型具有固有的更广泛的应用范围。采用FAST样机的运动学和动力学参数，对SAS进行了驱动力分析，并提出了驱动力优化策略。本文的计算和分析表明，影响SAS驱动力的主要因素有三个。此外，本文的驱动力分析为FAST原型机的设计和控制以及结构和轨迹优化提供了指导。
SUMMARY The Secondary Adjustable System (SAS) addressed here is a central component of the Five-hundred-meter Aperture Spherical radio Telescope (FAST). It is a 6-degree-of-freedom rigid Stewart manipulator, in which one platform (the end-effector) should be controlled to track-desired trajectory when another platform (denoted as the base) is moving. Driving force analysis of the SAS is the basis for selecting rational servomotors and guaranteeing the dynamic performance, which will affect the terminal pose accuracy of the FAST. In order to determine the driving forces of the SAS, using the Newton–Euler method, the inverse dynamics of the Stewart manipulator is modeled by considering the motion of the base. Compared with the traditional dynamic models, the inverse dynamic model introduced here possesses an inherent wider application range. By adopting the kinematic and dynamic parameters of the FAST prototype, the driving force analysis of the SAS is carried out, and the driving force optimization strategies are proposed. Calculation and analysis presented in the paper reveal that there are three main factors affecting the driving forces of the SAS. In addition, the driving force analysis of this paper lays out guidelines for the design and control of the FAST prototype, as well as the structure and trajectory optimization.
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DOI：
10.1109/robot.1993.291971
发表时间：
1993-05
期刊：
[1993] Proceedings IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
Z. Ji
通讯作者：
Z. Ji
DOI：
10.1002/rob.4620100510
发表时间：
1993-07-01
期刊：
JOURNAL OF ROBOTIC SYSTEMS
影响因子：
--
作者：
GENG, Z;HAYNES, LS
通讯作者：
HAYNES, LS
影响因子：
2.7
作者：
J. Lin;C.-W. Chen
通讯作者：
J. Lin;C.-W. Chen
影响因子：
3.3
作者：
Lee, SH;Song, JB;Hong, DH
通讯作者：
Hong, DH
影响因子：
4.2
作者：
Shao;Zhufeng;Tang;Xiaoqiang;Chen;Xu;Wang;Liping
通讯作者：
Shao;Zhufeng;Tang;Xiaoqiang;Chen;Xu;Wang;Liping