On design and experiment of the feed cable-suspended structure for super antenna

Duan, Baoyan; Qiu, Yuanying; Zhang, F.S.; Zi, Bin

doi:10.1016/j.mechatronics.2008.11.018

Cited by 56 publications

(22 citation statements)

References 12 publications

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“…This modeling takes cable mass and elasticity into account and is referred to as the elastic catenary [15]. Apart from M. Gouttefarde studies using finite element methods [16], [17], the elastic catenary has been considered in several previous studies on large-dimension parallel cable-driven robots [9], [11], [18], [19]. As discussed in [9], the static analysis of parallel cable-driven robots based on the elastic catenary leads to a system of non-linear equations.…”

Section: Introductionmentioning

confidence: 99%

Simplified static analysis of large-dimension parallel cable-driven robots

Gouttefarde

Collard

Riehl³

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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Section: Introductionmentioning

confidence: 99%

Simplified static analysis of large-dimension parallel cable-driven robots

Gouttefarde

Collard

Riehl³

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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“…Finally, the location of the joints has been optimized in order to meet the requirement of the orientation of 60 • . 20 The micro parallel manipulator is a Stewart platform, which employs six identical precision linear actuators as driving limbs, each of which is connected to the cabin through a universal joint and connected to the platform (mobile platform) through a spherical joint. The feed platform is considered to be the end-effector of the micro manipulator.…”

Section: System Descriptionsmentioning

confidence: 99%

Motion prediction and supervisory control of the macro–micro parallel manipulator system

Qiu

Zhao

2011

Robotica

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SUMMARYThis paper deals with the motion prediction and control of the macro–micro parallel manipulator system for a 500-m-aperture spherical radio telescope (FAST). Firstly, based on principles of parallel mechanism, a decoupled tracking and prediction algorithm to predict the position and orientation of the movable macro parallel manipulator is presented in this paper. Then, taken as the upper layer supervisory controller in the joint space of the micro parallel manipulator, the adaptive interaction PID controller utilizing the adaptive interaction algorithm to adjust the parameters of a canonical PID controller is discussed. In addition, the digital servo filters with feedforward are employed in the linear actuators as the lower layer controllers. Experimental results of a one-tenth scale FAST field model validate the effectiveness of the supervisory controller and the motion prediction algorithm.

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“…Implementation of such measurement is more challenging than that of the cable length measurement. Moreover, it may require expensive instrumentation system such as laser ranging equipment [10,12], or differential GPS (Global Positioning System) augmented by accelerometers and rate gyros [11], or multiple camera with high resolution and high frame rate [13,14]. For this reason, only few researches focus on implementation of the task space controllers in practice, which is considered in this paper in detail.…”

Section: Introductionmentioning

confidence: 99%