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类Stewart平台并联索系结构的运动学分析 被引量：2

Kinematic analysis of parallel cables structure for like stewart platform
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摘要 介绍了大射电望远镜光机电一体化设计方案 ,根据贵州KARST地貌的地理位置推导了线馈源的扫描运动轨迹 ,由悬链线方程得到了悬索挠度与索张力的求解方法 ,并对六悬索并联索系结构进行了运动学描述和分析 ,提出了悬索长度控制实时性问题的解决办法 。 This paper introduced the integrated optic mechanical and electronic designing scheme for large radio telescopes.The scanning motion track of linear feedback was deduced according to the geographical position of landforms of Guizhou KARST area.The method of solution for cable's deflection and tension were obtained from linear equation of suspension chain.The kinematics description and analysis were carried out upon structures of six suspension cabled parallel cable system.The solving means of real time problems for controlling the lengths of cable were advanced.Finally the formulae of cable tip coordinates in dynamic test have been given out.
作者 王文利 段宝岩 魏强 陈杰
机构地区 西安电子科技大学电子机械学院
出处 《机械设计》 CSCD 北大核心 2000年第6期8-11,共4页 Journal of Machine Design
基金 国家自然科学基金! ( 596 750 4 0 ) 中科院知识创新工程重大项目"大射电望远镜FAST预研究"项目资助
关键词 大射电望远镜 Steart平台 索系结构 运动学 Large radio telescope,Stewart platform,Cables structure,Kinematics
分类号 TH751 [机械工程—精密仪器及机械] TH113.2 [机械工程—机械设计及理论]
  • 相关文献

参考文献7

  • 1　南仁东，邱育海，彭　勃，朱丽春.1999——FAST学术年会工作报告[R].1999，4.
  • 2　Li Hui .China hopes to move FAST on largest telescope[J]. Science.August,1998，(281):771.
  • 3　B．Y．Duan.A new design project of the line feed structure for large sphericalradio telescope and its nonlinear dynamic analysis[J].Int J Mechatronics，1999,9(1):53-64.
  • 4　B. Y. Duan and S.J. Duan, On the nonlinear dynamic analysis of the line sourcestructure and its suspended cable structure used in large spherical radio telescopes[C].The Invited Paper of The XXVth URSI(International Union of Radio Science) GeneralAssembly, Lille, France, August 25～September 5, 1996.
  • 5　B. Y. Duan, Some new result about the integrated design ofmechanical,electronic, optic and automatic control technologies for next generation largeradio telescopes[C]. The Invited Paper of The URSI Large Telescope Working GroupMeeting and 1KT International Technical Workshop, Sydney, Australia, December 15～18,1997.
  • 6段宝岩,王均阳.大型球面天线线馈源结构光机电综合设计研究[J].西安电子科技大学学报,1998,25(5):575-581. 被引量：16
  • 7邱育海.具有主动主反射面的巨型球面射电望远镜[J].天体物理学报,1998,19(2):222-228. 被引量：43

二级参考文献5

  • 1Duan Baoyan，Proceedings of the 3rd Meeting of The Large Telescope Working Group and a Workshop on Spherical Radio Telescopes CHINA’，1995年，85页
  • 2段宝岩，The Invited Report at the 25th Conference for the International Union of Radio Science （USRI’96），1996年
  • 3Strom R，Proceedings of the 3rd Metting of the Large Telecope Working Group and of a Workshop on Spherical Radio Telescopes，1995年
  • 4段宝岩，Proceedings of the 3rd Metting of the Large Telecope Working Group and of a Workshop on Spherical Radio Telescopes，1995年
  • 5南仁东，LT争建建议书，1995年

共引文献56

同被引文献13

  • 1Bostelman R,Albus J,Dagalakis N.Applications of the NISTRobocrane[A].In:Proceedings of 5th International Symposium on Robotics and Manufacturing [C],Maui,HI,1994
  • 2Ebert I,Voglewede P A.On the connections between cabledriven robots,parallel manipulators and grasping [A].In:Proceedings of 2004 IEEE International Conference on Robotics and Automation[C],New Orleans,LA,2004
  • 3Riechel A T,Bosscher P,Lipkin H.Concept paper:cabledriven robots for use in hazardous environments[A].In:Proceedings of 10th International Topical Meeting on Robotics and Remote Systems for Hazardous Environments [C],Gainesville,2004
  • 4Bostelman R,Albus J,Stone B.Toward next-generation construction machines[A].In:Proceedings of American Nuclear Society 9th International Topical Meeting on Robotics and Remote Systems[C],Seattle,WA,2001
  • 5Wavering A J.Parallel kinematics machine research at NIST:past,present and future[A].In:Proceedings of 1st European-American Forum on Parallel Kinematics Machines Theoretical Aspects and Industrial Requirements[C],Milan,Italy,1998
  • 6Pusey J,Fattah A,Agrawal S.Design and workspace analysis of a 6-6 cable-suspended parallel robot[J].Mechanism and Machine Theory,2004,39:761～778
  • 7Bosscher P,Ebert I.A stability measure for underconstrained cable-driven robots[A].In:Proceedings of 2004 IEEE International Conference on Robotics & Automation [C],New Orleans,LA,2004
  • 8Coati J P,Clinton C M,Zhang G.Workspace Variation of a Hexapod Machine Tool[OZ].In:NIST TechniPub,http://ois.nist.gov/nistpubs/technipubs,1998
  • 9朴军,韩京清.自抗扰控制器(ADRC)仿真软件[J].系统仿真学报,1999,11(5):383-387. 被引量：16
  • 10段宝岩,苏玉鑫,仇原鹰,王文利,孙欣,南仁东,彭勃.新一代大射电望远镜机电光一体化设计研究[J].中国机械工程,1999,10(9):1002-1004. 被引量：36

引证文献2

二级引证文献8

机械设计
2000年 第6期

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