Research and Application of Cable-Driven and Rigid Parallel Robots
Description
This book is the first academic monograph on the Five-Hundred-Meter Aperture Spherical Radio Telescope (FAST, or China's 'sky eye'), which discusses the research on cable-driven and rigid parallel robots in detail. Taking the final scale model of the FAST feed support system as the object, it introduces the theoretical and engineering research on optimal design, accuracy improvement, and control of the cable-driven and rigid parallel robots, striving to clearly illustrate the core technology of the FAST feed support system, as well as the theoretical methodology and engineering technology of cable-driven and rigid parallel mechanisms.
The theoretical innovation and technological breakthroughs of the cable-driven and rigid parallel robots directly support the implementation of the feed support system, which is one of the three major innovations of the FAST. This book is geared toward the high-performance development trend of robotics and follows the complete development process of the design, control, and engineering practice of the FAST feed support system. It systematically elaborates the core theories and technologies, such as dynamic modeling, precision analysis, dimension synthesis, vibration suppression control, and inertia matching of cable-driven and rigid parallel robots.
This book elaborates on theoretical research and engineering practice, which have significant inspiration and reference effects. It guides readers to gain engineering experience and practical knowledge. The intended readership includes researchers, postgraduate students, undergraduate students, technology enthusiasts, etc.
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Xiaoqiang Tang , Ph.D., is a Professor in the Department of Mechanical Engineering and the Director of Manufacturing Engineering Institute at Tsinghua University. He has served as the Chief System Engineer of the Five-Hundred-Meter Aperture Spherical Radio Telescope (FAST project). He is one of the academic leaders in the fields of cable-driven parallel mechanism and space robot in China. He has published 5 monographs and over 100 academic papers and obtained over 60 authorized Chinese invention patents. He has won the second prize of natural science of the ministry of education, the special prize and the second prize of China machinery industry science and technology award.
Zhufeng Shao , Ph.D., is an Associate professor in the Department of Mechanical Engineering at Tsinghua University, a member of the National Industrial Foundation Expert Committee, a special expert of the Chinese Academy of Engineering for foundation strategy research, asenior member of Chinese Mechanical Engineering Society, an Editorial Board number of the Defence Technology (IF 5.1), a member of ASME and IEEE, a member of the China National Professional Standards Technical Committee (TC231-SC2), and the director of intelligent equipment and system research center at Tsinghua University WUXI research institute of applied technologies. He is engaged in the research of high-performance robotic and intelligent manufacturing. He has published 3 monographs and over 80 academic papers, issued 6 approved national standards on intelligent manufacturing and obtained 45 authorized Chinese invention patents and 15 software copyrights. He has won the silver prize of China patent award, the second prize of natural science of the ministry of education, the special prize and the second prize of China machinery industry science and technology award.
Rui Yao , Ph.D., the head of the FAST feed cabin system and a leader of the mechanical group ofthe FAST Operation and Development Center in the National Astronomical Observatory at the Chinese Academy of Sciences, a member of Youth Innovation Promotion Association of the Chinese Academy of Sciences, a Senior member of the Chinese Mechanical Engineering Society and the China Electronics Society. She received her Ph.D. in Mechanical Engineering from Tsinghua University, China, in July 2010. She is mainly engaged in the design and theoretical research of cable parallel mechanism, rigid parallel mechanism and radio telescope adjustment mechanism. She has published more than 40 academic papers and obtained 16 authorized Chinese invention patents.
Content
Overview.- Modeling Methods for the Long-span Cable-driven Parallel Robot.- The Static Characteristic Analysis of the Long-span Cable-driven Parallel Mechanism.- Stiffness Analysis of the Long-span Cable-driven Parallel Mechanism.- Dimensional Synthetic Optimization Design of the Cable-driven Parallel Mechanism.- Rigid-body Dynamic Modelling and Verification of the Fine-tuning Stewart Platform.- Dynamic Modeling of the Series Coupled Rigid-flexible System.- Vibration Control of Flexibly Supported Parallel Robots.- Inertia Matching of Parallel Robots.- Final Scale Model of the Feed Support System.