Dynamics and control of cable-suspended parallel robots for giant telescopes

Peng Zhuang; Zhengqiu Yao

doi:10.1117/12.669937

26 June 2006 Dynamics and control of cable-suspended parallel robots for giant telescopes

Peng Zhuang, Zhengqiu Yao

Proceedings Volume 6267, Ground-based and Airborne Telescopes; 62673H (2006) https://doi.org/10.1117/12.669937
Event: SPIE Astronomical Telescopes + Instrumentation, 2006, Orlando, Florida , United States

Abstract

A cable-suspended parallel robot utilizes the basic idea of Stewart platform but replaces parallel links with cables and linear actuators with winches. It has many advantages over a conventional crane. The concept of applying a cable-suspended parallel robot into the construction and maintenance of giant telescope is presented in this paper. Compared with the mass and travel of the moving platform of the robot, the mass and deformation of the cables can be disregarded. Based on the premises, the kinematic and dynamic models of the robot are built. Through simulation, the inertia and gravity of moving platform are found to have dominant effect on the dynamic characteristic of the robot, while the dynamics of actuators can be disregarded, so a simplified dynamic model applicable to real-time control is obtained. Moreover, according to control-law partitioning approach and optimization theory, a workspace model-based controller is proposed considering the characteristic that the cables can only pull but not push. The simulation results indicate that the controller possesses good accuracy in pose and speed tracking, and keeps the cables in reliable tension by maintaining the minimum strain above a certain given value, thus ensures smooth motion and accurate localization for moving platform.

Citation Download Citation

Peng Zhuang and Zhengqiu Yao "Dynamics and control of cable-suspended parallel robots for giant telescopes", Proc. SPIE 6267, Ground-based and Airborne Telescopes, 62673H (26 June 2006); https://doi.org/10.1117/12.669937

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