Research and Application of Cable-Driven and Rigid Parallel Robots : Development of the 40-meter Scale Model of the FAST (China Sky Eye) Feed Support System

This book is the first academic monograph on the Five-Hundred-Meter Aperture Spherical Radio Telescope (FAST, or China’s ‘sky eye’), which discusses the research on cable-driven and rigid parallel robots in detail. Taking the final scale model of the FAST feed support system as the object, it introduces the theoretical and engineering research on optimal design, accuracy improvement, and control of the cable-driven and rigid parallel robots, striving to clearly illustrate the core technology of the FAST feed support system, as well as the theoretical methodology and engineering technology of cable-driven and rigid parallel mechanisms. The theoretical innovation and technological breakthroughs of the cable-driven and rigid parallel robots directly support the implementation of the feed support system, which is one of the three major innovations of the FAST. This book is geared toward the high-performance development trend of robotics and follows the complete development process of the design, control, and engineering practice of the FAST feed support system. It systematically elaborates the core theories and technologies, such as dynamic modeling, precision analysis, dimension synthesis, vibration suppression control, and inertia matching of cable-driven and rigid parallel robots. This book elaborates on theoretical research and engineering practice, which have significant inspiration and reference effects. It guides readers to gain engineering experience and practical knowledge. The intended readership includes researchers, postgraduate students, undergraduate students, technology enthusiasts, etc. Foreword by Zheng You Foreword by Qiming Wang Preface Contents Main Parameters of Each Chapter Chapter 2 Chapter 3 Chapter 4 Chapter 5 Chapter 6 Chapter 7 Chapter 8 Chapter 9 1 Overview 1.1 Origin of the FAST 1.2 Main Structure and Operating Principles of the FAST 1.3 Parallel Robot 1.4 Cable-Driven Parallel Robot 1.5 Conclusions References 2 Modeling Methods for the Long-Span Cable-Driven Parallel Robot 2.1 Overview of the Long-Span CDPR Research 2.2 Single-Cable Models and the Long-Span CDPR Modeling; 2.2.1 Single-Cable Catenary Model 2.2.2 Single-Cable Parabola Model 2.2.3 Single-Cable Linear Model 2.2.4 Modeling Methods for the Long-Span CDPR 2.3 Model Simplification and Error Compensation 2.3.1 Error Analysis of the Single-Cable Models 2.3.2 Model Error Compensation of the Long-Span CDPR 2.4 Modeling of the FAST First-Level Feed Support System 2.4.1 Scale Model of the FAST CDPR 2.4.2 The CDPR of the FAST Prototype 2.5 Conclusion References 3 The Static Characteristic Analysis of the Long-Span Cable-Driven Parallel Robot 3.1 Cable Tension Characteristic Indices of the Long-Span CDPR 3.1.1 Performance Indices of the Local Cable Tension of the Long-Span CDPR 3.1.2 Performance Indices of the Global Cable Tension in the Workspace of the Long-Span CDPR 3.2 Analysis of End Errors and the Cable Tension Characteristics 3.2.1 Error Analysis of the Long-Span CDPR 3.2.2 Study of Mechanical Characteristics in Error Space 3.3 Force Characteristics Analysis of the Similar Model of the First-Level Feed Support System of FAST 3.3.1 Study of Force Characteristics and Attitude Under Two Specific Trajectories 3.3.2 Error Study Under Two Specific Trajectories 3.3.3 Study of Force Characteristics in Error Space Under Two Specific Trajectories 3.4 Conclusion References 4 Stiffness Analysis of the Long-Span Cable-Driven Parallel Robot 4.1 Simplified Stiffness Analysis of the Long-Span CDPR 4.2 The Stiffness Similarity Method Based on the Similarity Theory 4.2.1 Description of the Basic Similarity Method 4.2.2 The Stiffness Similarity Modeling Method of the Long-Span CDPR 4.3 Experiment of the Stiffness Similarity Model for the Four-Cables Scheme of the First-Level Support System for FAST 4.3.1 The Stiffness Similarity Model of the Long-Span CDPR 4.3.2 The Stiffness Similarity Experiment of the Long-Span CDPR 4.4 Conclusion References 5 Dimensional Synthetic Optimization Design of the Cable-Driven Parallel Robot 5.1 Performance Index System and Optimization Method 5.2 Synthetic Dimensional Design of the Long-Span CDPR Based on Force Characteristics 5.3 Dimensional Synthetic Design of the Long-Span CDPR Based on Stiffness Characteristics 5.4 Optimization Analysis of the Six-Cable CDPR of the Feed First-Level Support System for FAST 5.4.1 Dimensional Optimization Based on Force Characteristics 5.4.2 Dimensional Optimization Based on Stiffness Characteristics 5.4.3 Dimensional Optimization Based on the Tracking Angle at the Maximum Boundary 5.4.4 Synthetic Optimization of Parameters 5.5 Conclusion References 6 Rigid-Body Dynamic Modelling and Verification of the Fine-Tuning Stewart Platform 6.1 Dynamic Modelling Methods for Parallel Robots 6.2 Kinematic Analysis of the Fine-Tuning Platform 6.3 Dynamic Modelling of the Fine-Tuning Stewart Platform 6.4 Experimental Verification of the Dynamic Model 6.5 Conclusion References 7 Dynamic Modeling of the Rigid-Flexible Series Coupling System 7.1 Flexibly Supported Robot and Its Dynamics 7.2 Elastic Dynamics of the CDPR 7.3 The FAST Wind Load Model 7.4 Analysis of Rigid-Flexible Coupling Characteristics and Models Combination 7.5 Conclusion References 8 Vibration Control of Flexibly Supported Parallel Robots 8.1 Vibration Control Method of Flexibly Supported Robot 8.2 Trajectory Planning of the Feed Support System 8.3 Trajectory Compensation Vibration Control 8.3.1 Trajectory Compensation Vibration Control Principle 8.3.2 Vibration Control Experiment on the FAST 1:15 Scale Model 8.4 Internal Force Vibration Control 8.4.1 Internal Force Vibration Control Principle 8.4.2 Vibration Control Simulation 8.5 Conclusion References 9 Inertia Matching of Parallel Robots 9.1 Inertia Matching and Joint-Space Inertia Matrix of the Parallel Robot 9.2 Joint Space Inertia Matrix of the Stewart Mechanism 9.2.1 Pose Analysis 9.2.2 Velocity Analysis and Limb Jacobian Matrices 9.2.3 Acceleration Analysis 9.2.4 Force System Analysis 9.2.5 Joint Space Inertia Matrix 9.3 Equivalent Inertia of the Parallel Robot 9.4 Inertia Matching Guideline of the Parallel Robot 9.5 Conclusion References 10 Final Scale Model of the Feed Support System 10.1 Mechanical Structure of the 40-meter Scale Model 10.1.1 Fine-Tuning Stewart Platform 10.1.2 A-B Rotator 10.1.3 Cable-Driven Parallel Robot 10.1.4 Cable Towers 10.1.5 Calibration of the CDPR 10.2 Control System of the Scale Model 10.3 Control Experiments of the CDPR 10.3.1 Semi-closed Loop Control Experiments 10.3.2 Full-Closed Loop Control Experiments 10.4 Astronomical Observation Experiments 10.5 Conclusion