Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio Telescope

doi:10.1177/1729881418756695

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio Telescope
	Deng, Sai1,2 ; Jing, Fengshui1,2 ; Zheng, Rongzhang1,2 ; Liang, Zize1,2 ; Yang, Guodong1
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2018-02-07
卷号	15 期号:1 页码:1-12
关键词	Pose Distribution Multi-objective Time-varying Barycenter Stiffness Fast
DOI	10.1177/1729881418756695
文献子类	Article
英文摘要	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.
WOS研究方向	Robotics
语种	英语
WOS记录号	WOS:000424646200001
资助机构	National Nature Science Foundation of China(61573358)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/20882]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Deng, Sai,Jing, Fengshui,Zheng, Rongzhang,et al. Multi-objective pose optimal distribution method for the feed support system of Five-hundred-meter Aperture Spherical radio Telescope[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2018,15(1):1-12.
APA	Deng, Sai,Jing, Fengshui,Zheng, Rongzhang,Liang, Zize,&Yang, Guodong.(2018).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,15(1),1-12.
MLA	Deng, Sai,et al."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 15.1(2018):1-12.