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Accuracy design of the Stewart manipulator of the Five-hundred-meter Aperture Spherical radio Telescope

文献类型：期刊论文

作者Yao, Rui1,2; Fu, Changhai3; Sun, Caihong1,2; Zhu, Wenbai1,2
刊名ADVANCES IN MECHANICAL ENGINEERING
出版日期2019-04-02
卷号11期号:4页码:9
关键词Stewart manipulator accuracy design error analysis error modeling radio telescope
ISSN号1687-8132
DOI10.1177/1687814019840840
英文摘要A Stewart manipulator is used in the Five-hundred-meter Aperture Spherical radio Telescope to ensure the position and orientation accuracy of the feed receivers. Due to the weight limit, the feed cabin has a low stiffness, which highly affects the control accuracy of the Stewart manipulator based on the control conditions. The main purpose of this article is to present an effective accuracy design method of the Stewart manipulator of the Five-hundred-meter Aperture Spherical radio Telescope. First, error modeling of the Stewart manipulator with the structural deformation is set up, which can indicate the influence on the control error caused by the structural deformation in real-time control. Second, by analyzing the accuracy factors of the Stewart manipulator, the end-effector error limit caused by the structural deformation is obtained. Third, an error distribution method based on the maximum coefficient method is proposed, which guides the structural design of the feed cabin. Fourth, a semi-physical simulation model of the feed cabin is set up to simulate the control accuracy of the feed cabin, and the experiment results show that the control error of the feed cabin is within root mean square 4.8 mm. Finally, the feed cabin is effectively used in the Five-hundred-meter Aperture Spherical radio Telescope within its root mean square 10-mm accuracy requirement.
WOS关键词PLATFORM
资助项目National Natural Science Foundation of China[11203048] ; Youth Innovation Promotion Association CAS ; Open Project Program of the Key Laboratory of FAST, NAOC, Chinese Academy of Sciences
WOS研究方向Thermodynamics ; Engineering
语种英语
WOS记录号WOS:000463175400001
出版者SAGE PUBLICATIONS LTD
资助机构National Natural Science Foundation of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Youth Innovation Promotion Association CAS ; Open Project Program of the Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; Open Project Program of the Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Youth Innovation Promotion Association CAS ; Open Project Program of the Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; Open Project Program of the Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Youth Innovation Promotion Association CAS ; Open Project Program of the Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; Open Project Program of the Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; National Natural Science Foundation of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS ; Youth Innovation Promotion Association CAS ; Open Project Program of the Key Laboratory of FAST, NAOC, Chinese Academy of Sciences ; Open Project Program of the Key Laboratory of FAST, NAOC, Chinese Academy of Sciences
源URL[http://ir.bao.ac.cn/handle/114a11/25690]  
专题中国科学院国家天文台
通讯作者Yao, Rui
作者单位1.Chinese Acad Sci, CAS Key Lab FAST, NAOC, Beijing, Peoples R China
2.Chinese Acad Sci, Natl Astron Observ, Beijing 100101, Peoples R China
3.Peoples Liberat Army Strateg Support Force, Res Inst Aerosp Engn, Beijing, Peoples R China
推荐引用方式
GB/T 7714		 Yao, Rui,Fu, Changhai,Sun, Caihong,et al. Accuracy design of the Stewart manipulator of the Five-hundred-meter Aperture Spherical radio Telescope[J]. ADVANCES IN MECHANICAL ENGINEERING,2019,11(4):9.
APA Yao, Rui,Fu, Changhai,Sun, Caihong,&Zhu, Wenbai.(2019).Accuracy design of the Stewart manipulator of the Five-hundred-meter Aperture Spherical radio Telescope.ADVANCES IN MECHANICAL ENGINEERING,11(4),9.
MLA Yao, Rui,et al."Accuracy design of the Stewart manipulator of the Five-hundred-meter Aperture Spherical radio Telescope".ADVANCES IN MECHANICAL ENGINEERING 11.4(2019):9.

入库方式： OAI收割

来源：国家天文台

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