Dynamic modeling of the Stewart platform for the NanShan Radio Telescope

doi:10.1177/1687814020940072

	Dynamic modeling of the Stewart platform for the NanShan Radio Telescope
	Kazezkhan, Guljaina 1,2; Xiang, Binbin 1; Wang, Na 1; Yusup, Aili 1
刊名	ADVANCES IN MECHANICAL ENGINEERING
	2020-07-01
卷号	12 期号:7 页码:1-10
关键词	Radio telescope Stewart platform inverse dynamic virtual work
ISSN号	1687-8132
DOI	10.1177/1687814020940072
产权排序	1
英文摘要	The NanShan Radio Telescope is a 26-m fully steerable radio telescope, and it adopts a 6-UPU Stewart platform with electric motors to adjust and align the position of the subreflector. In order to analyze the actual dynamic performance and control the Stewart platform of the NanShan Radio Telescope, this article models the inverse dynamic of the Stewart platform using the virtual work approach. The model improves the accuracy of the dynamic equations and considered the pitching motion of the base platform in the practical application of the radio telescope. Dynamic simulations of the Stewart platform are implemented, the conditions of the passive rotation of the piston of actuators are considered, and the results show that the effect of the passive rotation of the pistons of the actuators is important to obtain more accurate result. The conditions of the system under the different elevation angles of the radio telescope are also considered, and the results show that the change of the elevation angles of the radio telescope has a great impact on the driving forces of the Stewart platform. It is known from the analysis that the passive rotation of pistons of actuators and the elevation movement of the primary reflector of the radio telescope are not ignorable for the precise analysis and control of the Stewart platform of the NanShan Radio Telescope.
资助项目	National Key Basic Research and Development Program[2018YFA0404702] ; Chinese Academy of Sciences (CAS) Light of West China'' Program[2017XBQNXZ-B-021] ; Ministry of Finance (MOF) of China
WOS关键词	INVERSE DYNAMICS ; PARALLEL MANIPULATORS ; EFFICIENT METHOD ; PRINCIPLE
WOS研究方向	Thermodynamics ; Engineering
语种	英语
出版者	SAGE PUBLICATIONS LTD
WOS记录号	WOS:000551698200001
资助机构	National Key Basic Research and Development Program ; Chinese Academy of Sciences (CAS) Light of West China'' Program ; Ministry of Finance (MOF) of China
内容类型	期刊论文
源URL	[http://ir.xao.ac.cn/handle/45760611-7/3592]
专题	新疆天文台_射电天文研究室
通讯作者	Xiang, Binbin
作者单位	1.Chinese Acad Sci, Xinjiang Astron Observ, 150 Sci I St, Urumqi 830011, Xinjiang, Peoples R China 2.Univ Chinese Acad Sci, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Kazezkhan, Guljaina,Xiang, Binbin,Wang, Na,et al. Dynamic modeling of the Stewart platform for the NanShan Radio Telescope[J]. ADVANCES IN MECHANICAL ENGINEERING,2020,12(7):1-10.
APA	Kazezkhan, Guljaina,Xiang, Binbin,Wang, Na,&Yusup, Aili.(2020).Dynamic modeling of the Stewart platform for the NanShan Radio Telescope.ADVANCES IN MECHANICAL ENGINEERING,12(7),1-10.
MLA	Kazezkhan, Guljaina,et al."Dynamic modeling of the Stewart platform for the NanShan Radio Telescope".ADVANCES IN MECHANICAL ENGINEERING 12.7(2020):1-10.