利用有限元通用软件 ANSYS建立了大射电望远镜精调 Stewart 平台并联机器人的有限元模型;采用ANSYS参数化设计语言(APDL)实现了该模型的参数化设计;通过对任意位姿结构进行模态分析,计算出并联机器人在其工作空间内的固有频率分布;... 利用有限元通用软件 ANSYS建立了大射电望远镜精调 Stewart 平台并联机器人的有限元模型;采用ANSYS参数化设计语言(APDL)实现了该模型的参数化设计;通过对任意位姿结构进行模态分析,计算出并联机器人在其工作空间内的固有频率分布;根据伺服系统设计原则,确定了该并联机器人的伺服带宽。展开更多
大射电望远镜(LT)馈源柔索支撑系统可视为一种柔索并联机器人(WDPR).基于馈源柔索支撑系统的非线性力学模型,引入张力、球铰和索长约束条件,确定了WDPR的可达工作空间.进而,借助于有限元分析方法,利用静刚度阵的最小奇异值来评价该机器...大射电望远镜(LT)馈源柔索支撑系统可视为一种柔索并联机器人(WDPR).基于馈源柔索支撑系统的非线性力学模型,引入张力、球铰和索长约束条件,确定了WDPR的可达工作空间.进而,借助于有限元分析方法,利用静刚度阵的最小奇异值来评价该机器人的刚度性能.通过对LT50 m WDPR缩尺模型的空间运动数值仿真,绘制了三维可达工作空间图形及刚度曲面.分析结果表明,张力约束条件对LT可达工作空间影响最大,WDPR机器人与Stewart平台的刚度有明显差异.展开更多
An improved design, which employs the integration of optic, mechanical and electronic technologies for the next generation large radio telescope, is presented in this note. The authors propose the concept of parallel ...An improved design, which employs the integration of optic, mechanical and electronic technologies for the next generation large radio telescope, is presented in this note. The authors propose the concept of parallel macro-micro manipulator system from the feed support structure with a rough tuning subsystem based on a cable structure and a fine tuning subsystem based on the Stewart platform. According to the requirement of astronomical observation, the inverse kinematics model of this parallel macro-micro manipulator system is deduced. This inverse kinematics model is necessary for the computer-controlled motion of feed.展开更多
文摘大射电望远镜(LT)馈源柔索支撑系统可视为一种柔索并联机器人(WDPR).基于馈源柔索支撑系统的非线性力学模型,引入张力、球铰和索长约束条件,确定了WDPR的可达工作空间.进而,借助于有限元分析方法,利用静刚度阵的最小奇异值来评价该机器人的刚度性能.通过对LT50 m WDPR缩尺模型的空间运动数值仿真,绘制了三维可达工作空间图形及刚度曲面.分析结果表明,张力约束条件对LT可达工作空间影响最大,WDPR机器人与Stewart平台的刚度有明显差异.
文摘An improved design, which employs the integration of optic, mechanical and electronic technologies for the next generation large radio telescope, is presented in this note. The authors propose the concept of parallel macro-micro manipulator system from the feed support structure with a rough tuning subsystem based on a cable structure and a fine tuning subsystem based on the Stewart platform. According to the requirement of astronomical observation, the inverse kinematics model of this parallel macro-micro manipulator system is deduced. This inverse kinematics model is necessary for the computer-controlled motion of feed.
