关键词: 大射电望远镜；柔索并联机器人；运动学；索原长

Abstract:

The feed supporting system with passive control cables
for a large radio telescope (LT) was introduced, and the direct and inverse kinematics models were done.The unstressed length of the cable was first solved based on the catenary finite element theory deduced by H.B.Jayaraman when the end tension force of a decline cable was given.The direct and inverse kinematics models were next solved using the solution of the unstressed length of the cable. Finally,the kinematics analysis of the cable-cabin system for LT500m was made by the direct and inverse kinematics models.The simulation result shows that the methods proposed for the direct and inverse models are stable and quickly convergent so that it lays the theoretic foundation for real time control of the kinematics of the large-pan wire driven parallel robot (WDPR) system.

Key words: large radio telescope;wire driven parallel robot;kinematics, unstressed cable length