Titlebook: Research and Application of Cable-Driven and Rigid Parallel Robots; Development of the 4 Xiaoqiang Tang,Zhufeng Shao,Rui Yao Book 2024 Tsin

HAVOC

Dimensional Synthetic Optimization Design of the Cable-Driven Parallel Robot,f the CDPR on the basis of meeting the workspace requirements. This chapter establishes the performance index system and optimal design method of the long-span CDPR considering the sensitivity of dimension parameters to the performance. Force and stiffness characteristic indices are adopted respecti

明确

Rigid-Body Dynamic Modelling and Verification of the Fine-Tuning Stewart Platform,ine-tuning Stewart platform). The dynamic modelling of the second-level fine-tuning platform should consider the influence of the motion state of the base on the dynamics of the Stewart parallel robot. At present, most of the dynamic modelling on parallel robots focus on the robots with the stationa

手铐

Dynamic Modeling of the Rigid-Flexible Series Coupling System,ne-tuning Stewart platform is a rigid robot. They are connected in series, and form a typical flexibly supported robot system, which is also called the rigid-flexible coupling system. The dynamic modeling of the flexibly supported parallel robot is the theoretical foundation for the study of the for

用肘

Vibration Control of Flexibly Supported Parallel Robots, error of the FAST feed support system caused by the wind disturbance. This chapter discusses the existing vibration control methods of the flexibly supported robots. Trajectory compensation vibration control and internal force vibration control are illustrated and applied to the FAST feed support s

令人悲伤

Inertia Matching of Parallel Robots,ontrol effect of the fine-tuning Stewart platform. Inertia matching means the ratio of the mechanism inertia converted to the motor shaft to the motor inertia is within the proper range, in order to give full play to the motor capacity and ensure the dynamic performance of the robot. Inertia matchin

反馈

Largess

Overview,bed compared with the Arecibo Observatory‘s radio telescope. Besides, this chapter discusses the cable-driven parallel robot and the rigid parallel robot that are used in the FAST feed support system to achieve lightweight and high-precision dynamic tracking with a large workspace.

extinguish

Modeling Methods for the Long-Span Cable-Driven Parallel Robot,ling method of the long-span CDPR and the error compensation method with higher-order polynomials. The modeling, error analysis, and compensation of the first-level support system are completed and can be applied in the closed-loop control to improve the terminal accuracy.

转换

The Static Characteristic Analysis of the Long-Span Cable-Driven Parallel Robot,he first-level support system of the FAST is taken as an example to study the global cable tension characteristics and the cable tension characteristics in the allowable error space, which verify the feasibility of the proposed force characteristic indices, and provide a theoretical foundation for the force control of the long-span CDPR.

独轮车

Dimensional Synthetic Optimization Design of the Cable-Driven Parallel Robot,vely to implement the dimension optimizations. The proposed optimization function based on the force characteristics and stiffness characteristics is applied on the CDPR of the FAST feed first-level support system, and the optimal dimension is obtained.