Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio Telescope
Deng, Sai1,2; Jing, Fengshui1,2; Zheng, Rongzhang1,2; Liang, Zize1,2; Yang, Guodong1
2018-02-07
发表期刊INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
卷号15期号:1页码:1-12
文章类型Article
摘要The Five-hundred-meter Aperture Spherical radio Telescope is the world's largest single-dish radio telescope and is located in the southwest of China. The cable-driven parallel robot and A-B rotator of the feed support system in Five-hundred-meter Aperture Spherical radio Telescope are designed to realize the theoretical position and attitude of the receiver. The feed support system is a pose-redundant and rigid-flexible coupling system; thus, the method of pose distribution between the A-B rotator and the cable-driven parallel robot impacts on the cable tension distribution and stiffness of the feed support system, which are crucial to the feed support system stability. The main purpose of this study is to examine the pose optimal distribution method for the feed support system. First, a mechanical model of the feed support system, which considers the time-varying barycenter of the feed cabin and the back-illuminated strategy of the receiver, is established. Then, a pose distribution method that ensures the position and attitude accuracy of the receiver is proposed for the feed support system. Considering the performance indices of the variance of cable tensions and the stiffness of the cable-driven parallel robot, an optimization of the rotation angles of the A-B rotator with multiple objectives is implemented using a genetic algorithm. Finally, simulations are conducted to demonstrate the effectiveness of the proposed method compared with others. Results show that the proposed approach not only ensures the attitude accuracy of the receiver but also maintains the lower variance of cable tensions and higher stiffness of the feed support system.
关键词Pose Distribution Multi-objective Time-varying Barycenter Stiffness Fast
WOS标题词Science & Technology ; Technology
DOI10.1177/1729881418756695
收录类别SCI
语种英语
项目资助者National Nature Science Foundation of China(61573358)
WOS研究方向Robotics
WOS类目Robotics
WOS记录号WOS:000424646200001
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/20882
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
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Deng, Sai,Jing, Fengshui,Zheng, Rongzhang,et al. Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio Telescope[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2018,15(1):1-12.
APA Deng, Sai,Jing, Fengshui,Zheng, Rongzhang,Liang, Zize,&Yang, Guodong.(2018).Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio Telescope.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,15(1),1-12.
MLA Deng, Sai,et al."Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio Telescope".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 15.1(2018):1-12.
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