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Research Papers

Dimensional Design on the Six-Cable Driven Parallel Manipulator of FAST

[+] Author and Article Information
Xiaoqiang Tang

Department of Precision Instruments and Mechanology,  Tsinghua University, Beijing 100084, P.R. of China

Rui Yao1

 National Astronomical Observatories, Chinese Academy of Sciences, Beijing 100012, P.R. of Chinaryao@nao.cas.cn

1

Corresponding author.

J. Mech. Des 133(11), 111012 (Nov 17, 2011) (12 pages) doi:10.1115/1.4004988 History: Received January 23, 2011; Revised August 15, 2011; Accepted August 22, 2011; Published November 17, 2011; Online November 17, 2011

China is now building the world’s largest single dish radio telescope in Guizhou province, which is called Five-hundred meter Aperture Spherical radio Telescope (FAST). The main purpose of this paper is to present an effective dimensional design method on the six-cable driven parallel manipulator of FAST. Sensitivity design method is adopted for the six-cable driven parallel manipulator of FAST. Cable has the capability to bear tension but not compression, so that cable driven parallel manipulator may not be controlled as expected if tension of one cable is small or zero. Therefore, for dimensional design of the six-cable driven parallel manipulator, three functions to evaluate tension performance were proposed. The tension performance functions can reflect the uniformity of cable tension and controllability of the six-cable driven parallel manipulator. According to the sensitivity design method and tension performance evaluating functions, a set of optimized dimensional parameters is calculated for constructing the six-cable driven parallel manipulator of FAST. In order to verify the optimization design result, a similarity model of the six-cable driven parallel manipulator was set up in Beijing. A serial of experiments shows that tension performance of the six-cable driven parallel manipulator satisfies the system’s requirement. More importantly, it provides a theoretical reference for further study on dimensional design of a cable driven parallel manipulator with large span.

Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 1

Conceptual model of the FAST

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Figure 2

Geometric parameter of the six-cable driven parallel manipulator

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Figure 3

Parameters of the six-cable driven parallel manipulator: (a) dimensional parameters of the six-cable driven parallel manipulator, (b) required workspace and pose angle of the six-cable driven parallel manipulator

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Figure 4

Sensitivity of the five dimensional parameters on Wσ1: (a) sensitivity of h/rb and θa/θb on Wσ1; (b) sensitivity of ra/rb and θa/θb on Wσ1; (c) sensitivity of (d×1000)/rb and θa/θb on Wσ1; and (d) sensitivity of m0 and θa/θb on Wσ1

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Figure 5

Sensitivity of the five dimensional parameters on Wσ2: (a) sensitivity of h/rb and θa/θb on Wσ2; (b) sensitivity of ra/rb and θa/θb on Wσ2; (c) sensitivity of (d×1000)/rb and θa/θb on Wσ2; and (d) sensitivity of m0 and θa/θb on Wσ2

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Figure 6

Sensitivity of the five dimensional parameters on Wσ3: (a) sensitivity of h/rb and θa/θb on Wσ3; (b) sensitivity of ra/rb and θa/θb on Wσ3; (c) sensitivity of (d×1000)/rb and θa/θb on Wσ3; and (d) sensitivity of m0 and θa/θb on Wσ3

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Figure 7

Similarity model of the six-cable driven parallel manipulator

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Figure 8

Accuracy of the similarity model

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Figure 9

High-precision tension sensors

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Figure 10

Line trajectory

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Figure 11

Cable tension in line trajectory

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Figure 13

Cable tension in arc trajectory

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Figure 14

Circle trajectory

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Figure 15

Cable tension in circle trajectory

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