Abstract
The first adjustable feed support system in FAST is a six-cable-driven parallel manipulator. Due to flexibility of the cables, the cable-driven parallel manipulator bears a concern of possible vibration caused by wind disturbance or internal force from the fine drive system. The purpose of this paper is to analyze vibration characteristic of the six-cable-driven parallel manipulator in FAST. The tension equilibrium equation of the six-cable-driven parallel manipulator is set up regarding the cables as catenaries. Then, vibration equation is established considering the longitudinal vibration of the cables. On this basis, the natural frequencies are depicted in figures since both analytical and numerical solutions are ineffective. Influence of the sags of the cables on the natural frequencies is discussed. It is shown that the sags of the cables will decrease the natural frequencies of the six-cable-driven parallel manipulator. Simplification to acquire the natural frequencies is proposed in this paper. The results justify effectiveness of the simplification to calculate the first-order natural frequencies. Distribution of the first-order natural frequencies in the required workspace is provided based on the simplification method. Finally, parameters optimization is implemented in terms of natural frequencies for building the six-cable-driven parallel manipulator in FAST.
Highlights
In 1993, the large telescope was first proposed at the General Assembly of the International Union Radio Science
In 1994, Chinese astronomers carried out the conceptual design of the five-hundred-meter aperture spherical radio telescope (FAST) [1]
Due to flexibility of the long span cable, the cable-driven parallel manipulator bears a concern of possible vibration under wind disturbance and internal force [4]
Summary
In 1993, the large telescope was first proposed at the General Assembly of the International Union Radio Science. Due to flexibility of the long span cable, the cable-driven parallel manipulator bears a concern of possible vibration under wind disturbance and internal force [4]. Problems of the cable-driven parallel manipulator such as motion planning, force distribution, kinematics and calibration, control, and dynamics have been studied by a few researchers [5,6,7,8,9,10]. In cable-driven parallel manipulator systems, vibration of the cables can be longitudinal or transverse [11]. Our previous paper [12] addressed the natural frequencies of the cable-driven parallel manipulator considering the longitudinal vibration of cables. Further study is needed to analyze the vibration characteristic of large span cable-driven parallel manipulator
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