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Dynamics and control of cable-suspended parallel robots for giant telescopes
Peng ZHUANG; Zhengqiu YAO
2006-05-24
Source PublicationGround-based and Airborne Telescopes
Volume6267
Issue6267
PagesVol.6267 3H-1-11
Conference Date2006-5-24
Conference PlaceOrlando, FL
Funding OrganizationThe International Society for Optical Engineering
PublisherSPIE
Abstract
A cable-suspended parallel robot utilizes the basic idea of Stewart platform but replaces parallel links with cables and linear actuators with winches. It has many advantages over a conventional crane. The concept of applying a cable-suspended parallel robot into the construction and maintenance of giant telescope is presented in this paper.

Compared with the mass and travel of the moving platform of the robot, the mass and deformation of the cables can be disregarded. Based on the premises, the kinematic and dynamic models of the robot are built. Through simulation, the inertia and gravity of moving platform are found to have dominant effect on the dynamic characteristic of the robot, while the dynamics of actuators can be disregarded, so a simplified dynamic model applicable to real-time control is obtained.

Moreover, according to control-law partitioning approach and optimization theory, a workspace model-based controller is proposed considering the characteristic that the cables can only pull but not push. The simulation results indicate that the controller possesses good accuracy in pose and speed tracking, and keeps the cables in reliable tension by maintaining the minimum strain above a certain given value, thus ensures smooth motion and accurate localization for moving platform.
KeywordCable-suspended Parallel Robot Dynamics Controller Trajectory Tracking Giant Telescope
Subject Area天文技术与方法
Document Type会议论文
Identifierhttp://ir.niaot.ac.cn/handle/114a32/440
Collection中国科学院南京天文光学技术研究所_会议论文
望远镜新技术研究室_会议论文
Recommended Citation
GB/T 7714
Peng ZHUANG,Zhengqiu YAO. Dynamics and control of cable-suspended parallel robots for giant telescopes[C]:SPIE,2006:Vol.6267 3H-1-11.
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