ANALYSIS AND DESIGN OF 3T CABLE-DRIVEN PARALLEL
MANIPULATOR FOR THE FEEDBACK’S ORIENTATION OF
THE LARGE RADIO TELESCOPE

YAO Rui¹  TANG Xiaoqiang¹  LI Tiemin¹  REN Gexue²

(1. Department of Precision Instruments and Mecha-nology, Tsinghua University, Beijing 100084;
2. Department of Engineering Mechanics, Tsinghua University, Beijing 100084)

Abstract: In the large radio telescope mechanism design, due to the weight of the feedback cabin's decrease, a four cable-driven parallel manipulator to control the three directors' pure translations is proposed for expanding the workspace of the feedback cabin. For discussing the dimension design of the nonlinear cable-driven mechanism, due to the catenaries caused by cable's weight, a method is adopted to approximate the catenaries as parabolas at a known position to solve the nonlinear static equivalent equations of the four cable-driven parallel manipulator. The simplified static equivalent equations are given. The relation of the workspace and the preferences are explained through the simplified static equivalent equations. Meanwhile, the four cables' tensile forces and the elongate in the demanded workspace are given by using an optimized arithmetic. At last, the dimension parameter of the mechanism satisfying the demand is presented by comprehensive analysis.

Key words: Large radio telescope  Cable-driven parallel manipulator  Workspace  Catenary

CLC No: TH751 TU311

国家自然科学基金(50605035, 50510488)和国家高技术研究发展计划(863计划, 2006AA04Z133)资助项目. Received 20060418, received in revised form 20070424