The feed support system of the FAST adopts a three-level serial system, consisting of a CDPR, an A-B rotator and a rigid Stewart parallel robot (the fine-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 stationary base, i.e., the inverse dynamics in the inertial coordinate system, and the dynamic model does not contain the motion parameters of the base. This chapter takes the fine-tuning platform of the FAST feed support system as the research object, and completes dynamic modelling of the Stewart parallel robot with a motion base, considering the inertia force, centripetal force and gravity. On the basis of the inverse dynamic modelling, the simulation analysis is implemented with the MATLAB software, and the accuracy of the dynamic model is verified with physical experiments. The dynamic modelling of the fine-tuning Stewart platform lays a foundation for the theoretical study of the parallel robot and the construction of FAST project.
Rigid-Body Dynamic Modelling and Verification of the Fine-Tuning Stewart Platform
Research and Application of Cable-Driven and Rigid Parallel Robots ; Kapitel : 6 ; 107-131
2024-02-01
25 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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