Simulation on high-speed-shaft-rupture-induced shock vibration of cable-driven parallel robot of FAST1
LI Hui,2 PAN gaofeng
1.National Astronomical Observatories, Chinese Academy of Sciences, Beijing 100012;
2.Key laboratory of radio astronomy, Chinese Academy of Sciences, Beijing 100012.
The configuration and working style of a huge scale cable-driven parallel robot (CDPR) of FAST telescope is introduced in the paper. Dynamic finite element analysis a specially done to simulate the complicate response of its flexible tower-cable-cabin suspension system under a kind of catastrophic accident that is caused by sudden rupture of the high-speed shaft of motor within one certain cable-driven machine of the robot. As a result, the overbalanced steel cable begins to fall and it in turn triggers the safety brake to function on the low-speed shaft of cable drum and finally to stop the falling of cable. The whole process is accompanied by the cable falling of cable drum and then the following shock vibration of the flexible suspension system. The simulation is carried on three stages: first finding the equilibrium shape of the suspension system, then computing the cable falling on the drum, finally the shock vibration of the flexible suspension system with the input of time curve of the cable falling. Meanwhile a few simplified models are applied in the simulation, such as the model of mass-spring vibrator for tower structure, the simplified force-time curve of the safety brake, the model of rope-block sliding system, and so on. The simulation result shows that the overbalance shock by high-speed shaft rupture induces large scale vibration of the flexible suspension system, which should be considered seriously in the future detailed design.
李辉,潘高峰. 驱动链高速轴断裂所致FAST索牵引并联机器人的冲击振动仿真分析[J]. 振动与冲击, 2017, 36(12): 75-82.
LI Hui,2 PAN gaofeng. Simulation on high-speed-shaft-rupture-induced shock vibration of cable-driven parallel robot of FAST1. JOURNAL OF VIBRATION AND SHOCK, 2017, 36(12): 75-82.
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