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

李辉,潘高峰

振动与冲击 ›› 2017, Vol. 36 ›› Issue (12) : 75-82.

PDF(3432 KB)
PDF(3432 KB)
振动与冲击 ›› 2017, Vol. 36 ›› Issue (12) : 75-82.
论文

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

  • 李辉 , 潘高峰
作者信息 +

Simulation on high-speed-shaft-rupture-induced shock vibration of cable-driven parallel robot of FAST1

  • LI Hui,2 PAN gaofeng
Author information +
文章历史 +

摘要

介绍了FAST望远镜的巨型柔索牵引并联机器人的构型和工作方式。对FAST柔索牵引并联机器人的塔-索-舱柔性悬挂系统在某一套索驱动单元的电机高速轴发生断裂,卷筒上的低速轴安全制动器随即启动的极端工况所引发的卷筒溜索量和柔性悬挂系统的冲击振动力学进行了有限元仿真分析。总的仿真分析可分为三步进行,即柔性悬挂系统的静力学找形分析、卷筒溜索量分析和基于溜索量-时程曲线的系统动力学仿真分析。与此同时,仿真中采用了模拟塔柔性的质量-弹簧振子模型、简化的安全制动器制动力时程曲线和模拟索驱动设备的绳索-质量滑块系统等简化模型。计算结果表明,因高速轴断裂引发的冲击造成了柔性悬挂系统的大幅震荡,需要在系统详细设计中认真考虑。

Abstract

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.
 

Key words

  / FAST telescope, cable-driven parallel robot, rupture of high-speed shaft, shock vibration, dynamic simulation

引用本文

导出引用
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[J]. Journal of Vibration and Shock, 2017, 36(12): 75-82

参考文献

1 金栋平,文浩,胡海岩. 绳索系统的建模、动力学和控制[J]. 力学进展,2004,34(3): 304-313.
Jin Dongping, Wen Hao and Hu Haiyan. Modeling, dynamics and control of cable systems [J]. Advances in Mechanics, 2004, 34 (3): 304-313.
2 Oh S R. Agrawal S K. A reference governor based controller for a cable robot under input constraints [J]. IEEE Transactions on Control System Technology, 2005, 13(4): 639-645.
3 Fang S, Franitza D, Torlo M, et al. Motion control of a tension-based parallel manipulator using optimal tension distribution [J]. IEEE/ASME Transactions on Mechatronics, 2004, 9(3):561-567.
4 虞黎明, 索双富, 季林红, 任革学. FAST一次支撑系统的实验研究 [J]. 空间科学学报, 2003, 23(1): 68-73.
Yu Liming, Suo shuangfu, et.al. Experimental research of first feed-support system of FAST [J]. Chinese Journal of Space Science, 2003, 23(1):68-73.
5 魏强,仇原鹰,段宝岩. LT50m缩比模型悬索舱体系统的风振分析[J]. 应用力学学报. 2003, 20(1): 59-63.
Wei Qiang, Qiu Yuanying and Duan Baoyan. Wind-induced vibration analysis of the cable-cabin suspension system of LT50m model [J]. Chinese Journal of Applied Mechanics, 2003, 20(1): 59-63.
6 杜敬利, 仇原鹰, 段宝岩. LT50m模型二级运动调整系统的动力学分析 [J]. 应用力学学报. 2006, 23(3): 453-458.
Du Jingli, Qiu Yuanying and Duan Baoyan. Dynamic analysis to two-level kinetic tuning system of LT50m model. Chinese Journal of Applied Mechanics, 2006, 23(3): 453-458.
7 Zi Bin, Duan Baoyan, Du Jingli, Bao Hong. Dynamic modeling and active control of a cable-suspended parallel robot [J]. Mechatronics, 2008, 18: 1-12.
8 訾斌, 段宝岩, 杜敬利. 柔索驱动并联机器人动力学建模与数值仿真[J]. 机械工程学报, 2007, 43(11): 82-88.
Zi Bin, Duan Baoyan and Du Jingli. Dynamic modeling and numerical simulation of cable-driven parallel manipulator [J]. Chinese Journal of Mechanical Engineering, 2007, 43(11): 82-88.
9 汤奥菲, 仇原鹰, 段宝岩. 大柔性Stewart平台的刚度研究[J]. 应用力学学报, 2006, 23(4): 678-681.
Tang Aofei, Qiu Yuanying and Duan Baoyan. Stiffness study of a large flexible Stewart platform [J]. Chinese Journal of Applied Mechanics, 2006, 23(4): 678-681.
10 保宏, 杜敬利, 段宝岩. 大型射电望远镜悬索馈源支撑系统静刚度分析[J]. 机械工程学报, 2006, 42(7): 119-125.
Bao Hong, Du Jingli and Duan Baoyan. Analysis of stiffness of suspended feed system for large radio telescope [J]. Chinese Journal of Mechanical Engineering, 2006, 42(7): 119-125.
11 刘玉标, 申仲翰, 李世海. 悬索馈源系统的静动力分析与舞动评估. 创新工程重大项目KJX1-Y-01, 大射电望远镜FAST预研究总结报告, 附件九. 北京: 中国科学院国家天文台大射电望远镜实验室, 2001
Liu Yubiao, Shen Zhonghan and Li Shihai. Evaluation based on static-dynamic analysis and resonance of the suspended feed system. Final conclusion report on preliminary research of large radio telescope FAST, Main Program of Innovation Project KJX1-Y-01, Appendix 9. Beijing: Laboratory of large radio telescope, National Astronomical Observatories, Chinese Academy of Sciences, 2001.
12 清华大学FAST研究组. 大射电望远镜FAST移动小车-馈源稳定系统耦合研究. 北京: 清华大学, 2003.
FAST research team of Tsinghua University. Study on the trolley-feed coupling system of large radio telescope. Beijing: Tsinghua University, 2003.
13 清华大学唐晓强等. 完整的FAST馈源支撑机构缩尺模型验收报告(内部技术文档). 2010年4月.
Tang Xiaoqiang, et. al (Tsinghua University). Acceptance report on a complete scaled experimental model of FAST feed-support mechanism (internal technical report). April, 2010.
14 吉林大学刘小光等.  FAST工程空间六索驱动馈源舱位姿控制系统整体控制策略(内部技术文档). 2015年1月.
Liu xiaoguang, et. al (Jilin University). Total control strategy of cabin pose based on spatial 6-parallel-cable-driven system of FAST telescope (internal technical report). Jan., 2015.
15 杜敬利,保宏,宗亚雳,崔传贞. 索牵引并联机器人中变长度柔索的动力学分析[J]. 振动与冲击,2011,30(8):19-23.
16 杜敬利,崔传贞,段清娟,保宏. 考虑柔索振动影响时索牵引并联机器人的动力学分析与控制[J]. 振动与冲击,2012,31(24):88-93.
Du Jiangli, Bao Hong, Zong Yali, Cui Chuanzhen. Dynamic analysis of cables with varying-length in cable-driven parallel robots [J]. Journal of vibration and shock, 2011, 30(8):19-23.
17 韩进城,徐宏伟,刘雪霞,潘高峰. FAST索驱动高速轴传动链故障保护方案[J]. 机械工程师,2014,2:49-51.
Han Jincheng, Xu Hongwei, Liu Xuexia, Pan Gaofeng. Protection scheme for the failure of high-speed shaft in cable drive system of FAST project [J].Mechanical Engineer, 2014, 2: 49-51.
18 李辉,朱文白,潘高峰. 基于索力优化的FAST柔索牵引并联机构的静力学分析[J]. 工程力学, 2011,28(4):185-193.
Li Hui, Zhu Wenbai, Pan Gaofeng. Equilibrium analysis of FAST rope-drive parallel manipulator based on rope force optimization [J]. Engineering Mechanics, 2011, 28(4):185-193.
19 Hui Li,Jing-hai Sun,et, al. Experimental study on the damping of FAST cabin suspension system. Proc. Of SPIE, 2012. Vol. 8444, 84445Y 1-15.

PDF(3432 KB)

Accesses

Citation

Detail

段落导航
相关文章

/