| Li Jian (李剑),Tang Xiaoqiang,Shao Zhufeng,Yao Rui.[J].高技术通讯(英文),2012,18(3):230~237 |
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| Hybrid position/force control strategy and experiment of the six-cable driven parallel manipulator for the forty-meter aperture radio telescope |
| Revised:March 10, 2009 |
| DOI：10.3772/j.issn.1006-6748.2012.03.003 |
| 中文关键词: |
| 英文关键词: large radio telescope, six-cable driven parallel manipulator, hybrid position/force control, tracking accuracy |
| 基金项目: |
| Author Name | Affiliation | | Li Jian (李剑) | | | Tang Xiaoqiang | | | Shao Zhufeng | | | Yao Rui | |
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| 中文摘要: |
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| 英文摘要: |
| This paper mainly analyzes a hybrid position/force control strategy and experiment of a six-cable driven parallel manipulator for a forty-meter aperture radio telescope. Through the establishments of a kinematic model, a catenary model and a cable-force characteristics model, a basic method is presented based on preventing the pseudo-drag problem of a flexible cable and realizing the hybrid position/force control for a six-cable driven parallel manipulator, and a hybrid position/force control system is developed. Some specific experiments in two typical velocities for astronomical observations are carried out. Experimental results show that the tracking accuracy is related to the speed of the movement. The desired tracking accuracy of the support system is achieved through an effective hybrid position/force control strategy, the cable forces are controlled effectively, and the pseudo-drag problem of flexible cable is solved. This study establishes the foundation of achieving the harmonious movement of the six-cable driven parallel manipulator, A-B rotating platform and the Stewart fine tuning platform. |
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