Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio Telescope
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 r...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-02-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881418756695 |
| _version_ | 1818404345250578432 |
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| author | Sai Deng Fengshui Jing Rongzhang Zheng Zize Liang Guodong Yang |
| author_facet | Sai Deng Fengshui Jing Rongzhang Zheng Zize Liang Guodong Yang |
| author_sort | Sai Deng |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-14T08:38:40Z |
| format | Article |
| id | doaj.art-29007ac1b2cf462abca365302a9ab0c6 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-14T08:38:40Z |
| publishDate | 2018-02-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-29007ac1b2cf462abca365302a9ab0c62022-12-21T23:09:21ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142018-02-011510.1177/1729881418756695Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio TelescopeSai Deng0Fengshui Jing1Rongzhang Zheng2Zize Liang3Guodong Yang4 University of Chinese Academy of Sciences, Beijing, China University of Chinese Academy of Sciences, Beijing, China University of Chinese Academy of Sciences, Beijing, China University of Chinese Academy of Sciences, Beijing, China State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, ChinaThe 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.https://doi.org/10.1177/1729881418756695 |
| spellingShingle | Sai Deng Fengshui Jing Rongzhang Zheng Zize Liang Guodong Yang 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 |
| title | Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio Telescope |
| title_full | Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio Telescope |
| title_fullStr | Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio Telescope |
| title_full_unstemmed | Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio Telescope |
| title_short | Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio Telescope |
| title_sort | multi objective pose optimal distribution method for the feed support system of five hundred meter aperture spherical radio telescope |
| url | https://doi.org/10.1177/1729881418756695 |
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