Driving force analysis for the secondary adjustable system in FAST

The Secondary Adjustable System (SAS) addressed here is a central component of the Five-hundred-meter Aperture Spherical radio Telescope (FAST). It is a 6-degree-of-freedom rigid Stewart manipulator, in which one platform (the end-effector) should be controlled to track-desired trajectory when another platform (denoted as the base) is moving. Driving force analysis of the SAS is the basis for selecting rational servomotors and guaranteeing the dynamic performance, which will affect the terminal pose accuracy of the FAST. In order to determine the driving forces of the SAS, using the Newton-Euler method, the inverse dynamics of the Stewart manipulator is modeled by considering the motion of the base. Compared with the traditional dynamic models, the inverse dynamic model introduced here possesses an inherent wider application range. By adopting the kinematic and dynamic parameters of the FAST prototype, the driving force analysis of the SAS is carried out, and the driving force optimization strategies are proposed. Calculation and analysis presented in the paper reveal that there are three main factors affecting the driving forces of the SAS. In addition, the driving force analysis of this paper lays out guidelines for the design and control of the FAST prototype, as well as the structure and trajectory optimization.

[1]  Xin-Jun Liu,et al.  Inverse dynamics of the HALF parallel manipulator with revolute actuators , 2007 .

[2]  J. Lin,et al.  Computer-aided-symbolic dynamic modeling for Stewart-platform manipulator , 2009, Robotica.

[3]  Gu Hongbin,et al.  Adaptive Sliding Control of Six-DOF Flight Simulator Motion Platform , 2007 .

[4]  Qingsong Xu,et al.  Kinematics and inverse dynamics analysis for a general 3-PRS spatial parallel mechanism , 2005, Robotica.

[5]  Rendong Nan,et al.  A Chinese concept for the 1 km2 radio telescope , 2000 .

[6]  Ahmed Abu Hanieh,et al.  Active isolation and damping of vibrations via Stewart platform , 2003 .

[7]  Yangmin Li,et al.  Multi-degree of freedom vibration model for a 3-DOF hybrid robot , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[8]  Motoji Yamamoto,et al.  A calculation method of the reaction force and moment for a Delta-type parallel link robot fixed with a frame , 2009, Robotica.

[9]  S. H. Koekebakker,et al.  Model based control of a flight simulator motion system , 2001 .

[10]  Wang,et al.  Inertia Match of a 3-RRR Reconfigurable Planar Parallel Manipulator , 2009 .

[11]  Neville Hogan,et al.  The macro/micro manipulator : an improved architecture for robot control , 1993 .

[12]  Clément Gosselin,et al.  A New Approach for the Dynamic Analysis of Parallel Manipulators , 1998 .

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

[14]  Wu,et al.  Modeling and Analysis of a Micromotor with an Electrostatically Levitated Rotor , 2009 .

[15]  D. C. H. Yang,et al.  Inverse dynamic analysis and simulation of a platform type of robot , 1988, J. Field Robotics.

[16]  S. Staicu,et al.  Explicit dynamics equations of the constrained robotic systems , 2009 .

[17]  Bhaskar Dasgupta,et al.  The Stewart platform manipulator: a review , 2000 .

[18]  Jun Wu,et al.  Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy , 2009 .

[19]  Ilian A. Bonev,et al.  Orientation Capability, Error Analysis, and Dimensional Optimization of Two Articulated Tool Heads With Parallel Kinematics , 2008 .

[20]  Leonard S. Haynes,et al.  Six-degree-of-freedom active vibration isolation using a stewart platform mechanism , 1993, J. Field Robotics.

[21]  Stefan Staicu.  Recursive modelling in dynamics of Delta parallel robot , 2009, Robotica.

[22]  M. Mahboubkhah,et al.  Vibration analysis of machine tool’s hexapod table , 2008 .

[23]  R. Nan.  Five hundred meter aperture spherical radio telescope (FAST) , 2006 .

[24]  Bhaskar Dasgupta,et al.  Closed-Form Dynamic Equations of the General Stewart Platform through the Newton–Euler Approach , 1998 .

[25]  Zhiming Ji.  Study of the effect of leg inertia in Stewart platforms , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[26]  Jae-Bok Song,et al.  Position control of a Stewart platform using inverse dynamics control with approximate dynamics , 2003 .