Cable length/force-based large-size cables structure parallel robot cable regulating method

A robot and rope technology, which is applied in the field of adjusting the length of parallel robot ropes, can solve problems such as heavy weight, narrow receiving bandwidth, and low tracking accuracy

Inactive Publication Date: 2007-10-24
XIDIAN UNIV
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Problems solved by technology

But the disadvantages are: the azimuth and pitch movement of the feed source are purely mechanical, and the tracking accuracy is not high; the back frame structure of the feed source weighs more than 1,000 tons, which is heavy and expensive; the reflective surface is spherical, and the electromagnetic wave passes through

Method used

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  • Cable length/force-based large-size cables structure parallel robot cable regulating method
  • Cable length/force-based large-size cables structure parallel robot cable regulating method
  • Cable length/force-based large-size cables structure parallel robot cable regulating method

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[0101] Referring to Figure 1, the rope adjustment process of the present invention is as follows:

[0102] 1. Set up measuring instruments to calibrate site coordinates and tower top coordinates

[0103] The measuring instrument includes 3 laser total stations and 6 force sensors. The 3 laser total stations are respectively fixed on 3 brackets. After calibration, the 3 lenses are respectively aligned with the 3 prisms installed on the bottom surface of the feed cabin. The 6 tension sensors are respectively fixed on the suspension tower of 6 ropes, and the two ends of the force sensor are respectively equipped with directional wheels 2. The two directional wheels are fixed on the suspension tower, and each directional wheel has a ring of grooves. 4. The tested rope 3 passes through the force sensor and is placed in the groove 4 to ensure that the shape of the rope measured by the rope force sensor remains unchanged, as shown in Figure 2. In order to eliminate the electromagnetic in...

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Abstract

The disclosed cable adjustment method for giant cable parallel robot cable based on cable length/force comprises: scaling the station coordinate and peak coordinate by measuring apparatus, determining the theoretical attitude angle of feeding cabin; taking cable space shape as the catenary, and solving the theoretical length of cable at every discrete point; detecting the cable tension by sensor, calculating current real length, comparing the real and theoretical lengths to obtain the adjust quantity; finally, sending the adjust quantity into actuator for dragging the feeding cabin. With 2cm/s space scanning speed, this invention introduces position precision less than 3cm, and special fit to giant cable-system parallel robot.

Description

Technical field [0001] The invention belongs to mechanical engineering and relates to engineering components, in particular to a method for adjusting the rope length of a parallel robot, which can be used to guide the high-precision positioning of a large-span cable-system parallel robot. Background technique [0002] With the continuous advancement of science and technology, astronomers need to build a radio telescope with an effective receiving area of ​​one square kilometer, and named it the new generation of large radio telescope LT. As we all know, the aperture of the reflector directly affects the receiving capability of the radio telescope, but due to the impact of ground environmental factors on the accuracy of the antenna reflector, the current maximum aperture of a fully movable parabolic antenna can only be about 100 meters. The United States built the world’s largest Arecibo spherical reflective radio telescope with a diameter of 305 meters i...

Claims

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Application Information

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IPC IPC(8): H01Q3/12H01Q1/12
Inventor 段宝岩仇原鹰保宏陈光达杜敬利米建伟王从思
Owner XIDIAN UNIV
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