65m射电望远镜副面调整机构容错策略与工作空间边界识别

中国机械工程 ›› 2014, Vol. 25 ›› Issue (1): 17-22.

65m射电望远镜副面调整机构容错策略与工作空间边界识别

窦玉超1,2;姚建涛1,2;侯雨雷1,2;赵永生1,2

1.燕山大学河北省并联机器人与机电系统实验室，秦皇岛，066004
2.燕山大学先进锻压成形技术与科学教育部重点实验室，秦皇岛， 066004

出版日期:2014-01-10 发布日期:2014-01-14
基金资助:
国家自然科学基金资助项目（51275439）

Fault Tolerance Strategy and Workspace Boundary Identification of Adjusting Mechanism for 65 Meter Radio Telescope

Dou Yuchao1,2;Yao Jiantao1,2;Hou Yulei1,2;Zhao Yongsheng1,2

1.Parallel Robot and Mechatronic System Laboratory of Hebei Province，Yanshan University，Qinhuangdao，Hebei，066004
2.Key Laboratory of Advanced Forging & Stamping Technology and Science，Ministry of Education,Yanshan University，Qinhuangdao，Hebei，066004

Online:2014-01-10 Published:2014-01-14
Supported by:
National Natural Science Foundation of China（No. 51275439）

摘要/Abstract

摘要：

为使65m射电望远镜的Stewart型调整机构在发生单分支驱动故障时仍能正常工作，利用螺旋理论分析了故障时的机构自由度。根据机构自由度数大于任务自由度数的特点，提出了基于冗余自由度来实现机构容错运动的原理，计算并分析了L波段或S波段指向发生故障后机构的工作空间。提出了不规则工作空间边界的数字识别方法，实现了不规则工作空间边界对机构运动范围的约束。实验结果表明，利用该容错原理可实现单分支驱动故障时副面指向的调整。

关键词: 65m射电望远镜, Stewart型调整机构, 容错, 工作空间

Abstract:

In order to realize the proper function of a 65m radio telescope's Stewart adjusting mechanism with the condition of single link at failure. At first, the degree of freedom (DOF) of the mechanism under the fault condition was analyzed using the screw theory, and the fault tolerant movement principle based on redundant DOF was proposed according to the number of the mechanism's DOF greater than that of the task needed, and the workspace of the adjusting mechanism was calculated and analyzed when it broke down at L band or S band. Then a method to identify the irregular boundary of the workspace was proposed, and the restraint of the movement scope of the mechanism by the boundary was realized. The experimental results show that the fault tolerant theory proposed herein is suitable for the pointing adjustment of the subreflector with single link at failure.

Key words: 65 meter radio telescope, Stewart adjusting mechanism, fault tolerant, workspace

中图分类号:

TP242.3

窦玉超, 姚建涛, 侯雨雷, 赵永生, . 65m射电望远镜副面调整机构容错策略与工作空间边界识别[J]. 中国机械工程, 2014, 25(1): 17-22.

Dou Yuchao, Yao Jiantao, Hou Yulei, Zhao Yongsheng, . Fault Tolerance Strategy and Workspace Boundary Identification of Adjusting Mechanism for 65 Meter Radio Telescope[J]. China Mechanical Engineering, 2014, 25(1): 17-22.

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