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Driving force analysis for the secondary adjustable system in FAST

Published online by Cambridge University Press:  22 February 2011

Zhu-Feng Shao ,
Xiaoqiang Tang ,
Xu Chen  and
Li-Ping Wang
Zhu-Feng Shao
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, P.R. China
Xiaoqiang Tang*
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, P.R. China
Xu Chen
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, P.R. China
Li-Ping Wang
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, P.R. China
*
*Corresponding author. E-mail: tang-xq@mail.tsinghua.edu.cn
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Summary

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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.

Keywords

Newton–Euler methodStewart manipulatorInverse dynamicsInverse kinematicsFAST

Information

Type
Articles
Information
Robotica , Volume 29 , Issue 6 , October 2011 , pp. 903 - 915
Copyright
Copyright © Cambridge University Press 2011

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