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我国正在建造世界上最大的单一口径射电望远镜,其馈源支撑系统采用刚柔串联的两级并联机构实现精调定位。该文针对Stewart并联机构运动时反作用力会引起索并联机构振动的特点,对馈源支撑系统的振动特性进行分析。将6根绳索简化成6个弹簧阻尼器,利用Newton-Euler方法建立系统完整的动力学模型,推导出系统的状态方程,提出了数值求解方法,并利用Adams仿真进行了验证。数值方法分析结果表明:Stewart动平台上负载质量逐渐增加时,索平台的振动增大,响应变慢,绳索拉力的峰-峰值与负载质量大致呈线性变化。
China is building the world’s largest single-caliber radio telescope. Its feed support system uses two rigid parallel mechanisms to achieve fine positioning. In this paper, the vibration characteristics of the feed support system are analyzed in view of the fact that the reaction force of the Stewart parallel mechanism will cause the vibration of the cable parallel mechanism. The six ropes were simplified into six spring dampers. The complete dynamic model of the system was established by Newton-Euler method. The state equation of the system was deduced. The numerical solution method was proposed and verified by Adams simulation. The results of numerical method show that the vibration of the cable platform increases and the response becomes slower when the load on the Stewart platform is gradually increased. The peak-peak value of the cable tension changes roughly linearly with the load.