| 重心时变的多级混联支撑系统终端精度分析 |
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| 引用本文： | 柴晓明,唐晓强,邵珠峰. 重心时变的多级混联支撑系统终端精度分析[J]. 机器人, 2011, 33(5): 546-552,562. DOI: 10.3724/SP.J.1218.2011.00546 |
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| 作者姓名： | 柴晓明 唐晓强 邵珠峰 |
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| 作者单位： | 清华大学精密仪器与机械学系,北京,100084 |
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| 基金项目： | 国家自然科学基金资助项目(50975149); 国家科技重大专项资助项目(2009ZX04001-042-02) |
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| 摘 要： | 为保证天文观测的跟踪精度,针对500m口径大型球面射电望远镜(FAST)的多级混联馈源支撑系统因重心实时变化带来的终端馈源接收机位姿误差问题,本文首先构建索并联机构的弹性力学模型,建立馈源舱的重心位置和馈源接收机位姿误差的关系模型.然后,研究馈源舱重心的时变规律.最后,采用Newton-Raphson法迭代确定重心时变...
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| 关 键 词： | 索并联机构 多级混联系统 时变重心 位姿误差 |
Terminal Accuracy Analysis of a Multi-level Hybrid Support System Based on Time-varying Barycenter |
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| CHAI Xiaoming,TANG Xiaoqiang,SHAO Zhufeng. Terminal Accuracy Analysis of a Multi-level Hybrid Support System Based on Time-varying Barycenter[J]. Robot, 2011, 33(5): 546-552,562. DOI: 10.3724/SP.J.1218.2011.00546 |
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| Authors: | CHAI Xiaoming TANG Xiaoqiang SHAO Zhufeng |
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| Affiliation: | CHAI Xiaoming,TANG Xiaoqiang,SHAO Zhufeng (Department of Precision Instruments and Mechanology,Tsinghua University,Beijing 100084,China) |
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| Abstract: | In the multi-level hybrid feed support system of the Five-hundred-meter Aperture Spherical radio Telescope (FAST),the cabin's time-varying barycenter can cause the terminal feed receiver's pose error.In order to ensure the tracking accuracy of astronomical observations,firstly the elastic mechanics model of the cable-driven parallel mechanism is deduced, and the relationship between the cabin's barycenter location and the feed receiver's pose error is illustrated.Then the change law of the cabin's barycente... |
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| Keywords: | cable-driven parallel manipulator multi-level hybrid system time-varying barycenter pose error |
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