Development of a Large Parallel-Cable Manipulator For the Feed-Supporting System of a Next-Generation Large Radio Telescope

摘要

A large parallel-cable manipulator for the feed-supporting system of a next-generation large radio telescope is presented in this paper. The approximate kinematics model of the system is developed to improve real-time controllability, and the rationality of this approximation is validated by a kinematics accuracy analysis. In order to guarantee the effectiveness of control, the singularity of the large parallel-cable manipulator is analyzed (including kinematics and force singularities). The control strategy of the parallel-cable feed-supporting system is also proposed.