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《China Mechanical Engineering》 2014-01
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Fault Tolerance Strategy and Workspace Boundary Identification of Adjusting Mechanism for 65 Meter Radio Telescope

Dou Yuchao;Yao Jiantao;Hou Yulei;Zhao Yongsheng;Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University;Key Laboratory of Advanced Forging &Stamping Technology and Science,Ministry of Education,Yanshan University;  
In order to realize the proper function of a 65mradio telescope's Stewart adjusting mechanism with the condition of single link at failure.At first,the degree of freedom(DOF)of the mechanism under the fault condition was analyzed using the screw theory,and the fault tolerant movement principle based on redundant DOF was proposed according to the number of the mechanism's DOF greater than that of the task needed,and the workspace of the adjusting mechanism was calculated and analyzed when it broke down at L band or S band.Then a method to identify the irregular boundary of the workspace was proposed,and the restraint of the movement scope of the mechanism by the boundary was realized.The experimental results show that the fault tolerant theory proposed herein is suitable for the pointing adjustment of the subreflector with single link at failure.
【Fund】: 国家自然科学基金资助项目(51275439)
【CateGory Index】: TH743
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