Five-Hundred Meter Aperture Spherical Radio Telescope (FAST) Cable-Suspended Robot Model and Comparison with the Arecibo Observatory Arecibo, Puerto Rico Proposed FAST Observatory in China Observatorio
نویسنده
چکیده
This paper first presents a comprehensive comparison of the established radio telescope near Arecibo, Puerto Rico vs. the designed Chinese Five-hundred meter Aperture Spherical Telescope (FAST) that includes a six-degrees-of-freedom (dof) underconstrained cable-suspended robot to position and orient its focus cabin. Then a straight-line cable model is presented for the FAST robot kinematics and statics, intended as a baseline for the more complicated model including cable sag. However, in the course of examples it was discovered that the straight-line model is of no use since it always yields some negative cable tensions over the required FAST workspace. Therefore, two alternative cable-arrangement designs are presented for FAST which overcome the problem of negative cable tensions when using the straight-line cable pseudostatics model.
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