Dynamic modeling of the Stewart platform for the NanShan Radio Telescope

The NanShan Radio Telescope is a 26-m fully steerable radio telescope, and it adopts a 6-UPU Stewart platform with electric motors to adjust and align the position of the subreflector. In order to analyze the actual dynamic performance and control the Stewart platform of the NanShan Radio Telescope, this article models the inverse dynamic of the Stewart platform using the virtual work approach. The model improves the accuracy of the dynamic equations and considered the pitching motion of the base platform in the practical application of the radio telescope. Dynamic simulations of the Stewart platform are implemented, the conditions of the passive rotation of the piston of actuators are considered, and the results show that the effect of the passive rotation of the pistons of the actuators is important to obtain more accurate result. The conditions of the system under the different elevation angles of the radio telescope are also considered, and the results show that the change of the elevation angles of the radio telescope has a great impact on the driving forces of the Stewart platform. It is known from the analysis that the passive rotation of pistons of actuators and the elevation movement of the primary reflector of the radio telescope are not ignorable for the precise analysis and control of the Stewart platform of the NanShan Radio Telescope.

[1]  Soumya Bhattacharya,et al.  An on-line parameter estimation scheme for generalized stewart platform type parallel manipulators , 1997 .

[2]  Min-Jie Liu,et al.  Dynamics analysis of the Gough-Stewart platform manipulator , 2000, IEEE Trans. Robotics Autom..

[3]  Dasgupta Bhaskar,et al.  A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator , 1998 .

[4]  Alireza Akbarzadeh,et al.  Improved general solution for the dynamic modeling of Gough–Stewart platform based on principle of virtual work , 2016 .

[5]  H B Guo,et al.  Dynamic analysis and simulation of a six degree of freedom Stewart platform manipulator , 2006 .

[6]  Jianyi Kong,et al.  Dynamic analysis of 6-SPS parallel mechanism , 2012 .

[7]  Mohammad Bagher Menhaj,et al.  An efficient method for solution of inverse dynamics of Stewart platform , 2009 .

[8]  K. Miller,et al.  Optimal kinematic design of spatial parallel manipulators: Application to Linear Delta robot , 2003 .

[9]  Alexander S. Poznyak,et al.  Orientation of radio-telescope secondary mirror via adaptive sliding mode control , 2017, Neurocomputing.

[10]  A. Richard Thompson,et al.  The Atacama Large Millimeter/Submillimeter Array , 2009, Proceedings of the IEEE.

[11]  Stefan Staicu,et al.  Dynamics of the 6-6 Stewart parallel manipulator , 2011 .

[12]  Yuxin Su,et al.  The application of the Stewart platform in large spherical radio telescopes , 2000, J. Field Robotics.

[13]  D. Stewart,et al.  A Platform with Six Degrees of Freedom , 1965 .

[14]  Wisama Khalil,et al.  Inverse and direct dynamic modeling of Gough-Stewart robots , 2004, IEEE Transactions on Robotics.

[15]  R. Wielebinski,et al.  The 100-meter radio telescope at Effelsberg , 1973 .

[16]  Shin-Min Song,et al.  An efficient method for inverse dynamics of manipulators based on the virtual work principle , 1993, J. Field Robotics.

[17]  W. Gawronski,et al.  Control systems of the large millimeter telescope , 2005, IEEE Antennas and Propagation Magazine.

[18]  Bodo Heimann,et al.  Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism , 2009 .

[19]  L. Tsai.  Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work , 2000 .

[20]  M. Bergamasco,et al.  Dynamics of parallel manipulators by means of screw theory , 2003 .

[21]  Jorge Angeles,et al.  Kinematics and dynamics of a six-degree-of-freedom parallel manipulator with revolute legs , 1997, Robotica.