CN115648180A - Novel FAST feed source cabin based on nine-cable driving parallel mechanism - Google Patents
Novel FAST feed source cabin based on nine-cable driving parallel mechanism Download PDFInfo
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- CN115648180A CN115648180A CN202211332871.4A CN202211332871A CN115648180A CN 115648180 A CN115648180 A CN 115648180A CN 202211332871 A CN202211332871 A CN 202211332871A CN 115648180 A CN115648180 A CN 115648180A
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Abstract
The invention discloses a novel FAST feed source cabin based on a nine-cable driving parallel mechanism, which comprises: the feed source receiving device comprises a star-shaped frame, a plurality of upper pull cable mechanisms, a plurality of lower pull cable mechanisms, a feed source platform mechanism and a plurality of feed source receivers; the fixed end of the guy cable mechanism is fixedly arranged on the upper part of the inner ring of the star-shaped frame, and the movable end of the guy cable mechanism is connected with a feed source platform in the feed source platform mechanism; the fixed end of the lower cable mechanism is fixedly arranged at the lower part of the inner ring of the star-shaped frame, and the movable end of the lower cable mechanism is connected with an upper connecting plate in the feed source platform mechanism; the pitching angle of the feed source platform is adjusted by winding and unwinding the steel wire ropes in the upper and lower cable pulling mechanisms. The invention adopts a plurality of sets of guy cable mechanisms to realize the parallel drive of the feed source platform, so as to solve the technical problems of small attitude angle adjusting range, small effective load of a feed source cabin and the like of the existing secondary fine adjustment mechanism, and can reduce the total weight of the secondary fine adjustment mechanism from 10.5 tons to 6 tons.
Description
Technical Field
The invention belongs to the technical field of fine adjustment mechanisms, and particularly relates to a novel FAST feed source cabin based on a nine-cable driving parallel mechanism.
Background
A500-meter Aperture Spherical radio Telescope (FAST) is the biggest single-Aperture radio astronomical Telescope all over the world and has three independent innovations: natural karst depression of Guizhou is used as a site; an active deformable reflective surface; a light feed source supporting scheme based on a two-stage parallel robot.
The current FAST feed support system solution is as follows: a cable parallel robot consisting of six cables is adopted to pull a 30-ton feed source cabin, an AB two-axis steering mechanism (for realizing a +/-18-degree rotating angle) and a six-rod Stewart parallel robot are arranged in the feed source cabin, high-precision positioning of a feed source in a range of over 140m and 207m is realized together, and the positioning precision reaches 10mm.
The AB pivot mechanism and Stewart parallel robot described above take up a weight of approximately 10.5 tons. And the feed source receiving device is limited by a safety threshold of 30 tons in the feed source cabin, a plurality of sets of novel feed source receiving devices cannot be installed in the existing feed source cabin at the same time, and the existing AB rotating shaft mechanism is difficult to respond to a larger observation zenith angle. The invention relates to upgrading and reconstruction of a feed source platform pose adjusting and compensating mechanism in a feed source cabin, which can greatly improve the FAST observation angle, reduce the weight of a feed source cabin mechanism, improve the effective load capacity of the feed source cabin and provide technical support for the performance improvement of a telescope.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art that is already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a novel FAST feed source cabin based on a nine-cable drive parallel mechanism, which replaces the FAST novel feed source cabin with the functions of the existing secondary fine adjustment mechanism (an AB rotating shaft mechanism and a six-rod Stewart parallel robot), and can be used for increasing the pitch angle adjustment range from +/-18 degrees to +/-37 degrees besides meeting the secondary fine adjustment requirement of the pose of the original feed source platform. More importantly, the invention also realizes the light weight of the secondary fine adjustment mechanism in the cabin, thereby obviously improving the effective load of the feed source cabin under the constraint condition that the weight of the cabin is not more than 30 tons and meeting the requirement of simultaneously installing a plurality of sets of feed source receivers. In addition, the flexible cable drives the rigid driving mechanism to replace, so that the mounting/dismounting and maintenance work of the future feed source platform and the accessory equipment thereof is greatly simplified, and the easy maintenance of the FAST is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a novel FAST feed source cabin based on a nine-cable drive parallel mechanism, which comprises: the feed source receiving device comprises a star-shaped frame, a plurality of upper pull cable mechanisms, a plurality of lower pull cable mechanisms, a feed source platform mechanism and a plurality of feed source receivers; wherein the content of the first and second substances,
the fixed end of the upper cable mechanism is fixedly arranged on the upper part of the inner ring of the star-shaped frame, and the movable end of the upper cable mechanism is connected with a feed source platform in the feed source platform mechanism; the fixed end of the lower cable mechanism is fixedly arranged at the lower part of the inner ring of the star-shaped frame, and the movable end of the lower cable mechanism is connected with the upper connecting plate in the feed source platform mechanism; the pitching angle of the feed source platform is adjusted by winding and unwinding steel wire ropes in the upper and lower cable pulling mechanisms; the feed source receiver is installed on the feed source platform mechanism.
Further, the FAST novel feed source cabin comprises 6 sets of upper cable mechanisms and 3 sets of lower cable mechanisms; the hoisting mechanisms in the 6 sets of the guy cable mechanisms are symmetrically distributed in pairs in the star-shaped frame, every 3 sets of the guy cable mechanisms are uniformly distributed relative to the central line of the star-shaped frame, and the plane of the centers of winding drums of the 6 sets of the hoisting mechanisms is the upper plane of the base platform; every two of 6 sets of Hooke joints in the guy cable mechanism approach and are symmetrically distributed, and the plane where the centers of the 6 sets of Hooke joints are located is the lower plane of the feed source platform; the 3 sets of lower cable mechanisms are respectively arranged at the symmetrical center positions of two sets of upper cable mechanisms which are symmetrically distributed in pairs on the 6 sets of upper cable mechanisms, and the plane determined by the centers of the rotating shafts of the 3 sets of anchoring seats in the lower cable mechanisms is the upper plane of a feed source platform of the lower cable mechanisms; the plane determined by the centers of the winding drums of 3 sets of lower winding mechanisms in the lower cable mechanism is the lower plane of the base platform of the lower cable mechanism.
Further, the upper cable pulling mechanism comprises an upper base, an upper hoisting mechanism, an upper steel wire rope, a cable joint, a hook joint, a rotary support and a connecting bolt; the upper base is fixedly connected to a support plate through a connecting bolt, and the support plate is welded with the ball joint and the vertical pipe of the star-shaped frame into a whole; the cable joint and the upper steel wire rope are fixedly connected together through alloy casting, the cable joint is fixedly connected with the Hooke hinge through a bolt, the Hooke hinge is fixedly connected with the inner ring of the rotary support through a connecting bolt, and the outer ring of the rotary support is fixedly connected with a connecting seat on the feed source platform through a connecting bolt; one end of the upper steel wire rope is wound on a winding drum of the upper winding mechanism, the upper steel wire rope is anchored on the winding drum at one end of the winding drum, the upper steel wire rope is in a lower rope outlet structure layout, and the winding drum is driven by a motor to rotate forwards and backwards so as to control the length of the upper steel wire rope; the cable pulling mechanism is connected with the feed source platform through a cable joint, a Hooke's joint and a rotary support, and is suitable for the change of the angle of the upper steel wire rope during working.
Further, the lower cable pulling mechanism comprises a lower base, a lower hoisting mechanism, a lower steel wire rope, an open cable joint, a pin shaft, a cross slide block, an anchoring seat, a rotating shaft, a rotating cushion block, a nut, a split pin and a gasket; the lower base is fixedly connected to the lower edge of the inner part of the star-shaped frame; the lower steel wire rope is fixedly connected with the open cable joint through alloy casting, and the lower steel wire rope is in an upper rope outlet structure layout; the rotating cushion block and the rotating seat are connected with the upper connecting plate through the rotating shaft, the gasket and the nut, and the rotating cushion block is arranged between the rotating seat and the upper connecting plate and plays a role in supporting and reducing friction force when the rotating seat rotates around the rotating shaft; the anchoring seat is fixedly connected with the rotating seat, and the cross-shaped sliding block is connected with the anchoring seat through the pin shaft; the open cable joint is connected with a lower hole of the crosshead shoe through a pin shaft; the washer and the cotter pin are mounted at the shaft end of the pin shaft to ensure reliable pin shaft connection.
Further, the feed source platform mechanism comprises a feed source platform, an upper connecting plate, a connecting structure, a No. 1 receiver, a No. 2 receiver, a No. 3 receiver, a No. 4 receiver, a No. 5 receiver and a connecting seat; the feed source platform is fixedly and rigidly connected with the upper connecting plate through the connecting structure; the upper connecting plate is a bearing body on the upper plane of the feed source platform of the lower inhaul cable mechanism.
By adopting the technical scheme, the invention has the following beneficial effects:
the invention uses 9 sets of guy cable mechanisms to realize the parallel drive of the feed source platform, replaces the secondary fine adjustment mechanisms (AB rotating ring mechanism and Stewart rigid parallel mechanism) of the existing feed source cabin, solves the technical problems of small attitude angle adjustment range, small effective load of the feed source cabin and the like of the existing secondary fine adjustment mechanisms, and can reduce the total weight of the secondary fine adjustment mechanisms from 10.5 tons to 6 tons. Wherein 3 sets of cable parallel mechanism down are connected with star frame and feed platform upper junction plate, increase feed platform's interference killing feature space and moment space.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic overall structure diagram of a FAST feed cabin provided by the present invention;
FIG. 2 is a schematic diagram of a 9 cable drive of a feed platform of a FAST feed cabin provided by the present invention;
FIG. 3 is a top view of a feed platform of a FAST feed cabin provided by the present invention;
FIG. 4 is a cross-sectional view of a feed platform structure of a FAST feed cabin provided by the present invention;
FIG. 5 is a schematic diagram of a guy cable mechanism on a FAST feed source cabin provided by the present invention;
FIG. 6 is a schematic view of an under-deck guy cable mechanism for a FAST feed source provided by the present invention;
FIG. 7 is a partial cross-sectional view of a FAST feed source under-deck cable mechanism provided by the present invention;
an icon:
1-a star-shaped frame; 2, a cable pulling mechanism; 3-a feed source platform mechanism; 4, a pull rope mechanism; 5-a feed source platform; 6, connecting the upper connecting plate; 7-a linking structure; 8-1 # receiver; 9-2 # receiver; 10-3 # receiver; 11-4 # receiver; 12-5 # receiver; 13-a connecting seat; 14-connecting bolts; 15-rotating and supporting; 16-hook joint; 17-rope knot; 18-winding a steel wire rope; 19-upper hoisting mechanism; 20, mounting a base; 21-a support plate; 22-lower base; 23-lower hoisting mechanism; 24-lower steel wire rope; 25-open cable joint; 26-a pin shaft; 27-crosshead shoe; 28-anchoring seat; 29-a rotating seat; 30-a rotating shaft; 31-rotating the cushion block; 32-a gasket; 33-a nut; 34-cotter pin; 35-a gasket; 36-base platform upper plane; 37-feeding source platform lower plane; 38-base platform lower plane; 39-plane on the feed platform.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 7, the present embodiment provides a new FAST feed cabin based on a nine-cable driven parallel mechanism, which includes: the feed source device comprises a star-shaped frame 1, a plurality of upper pull cable mechanisms 2, a plurality of lower pull cable mechanisms 4, a feed source platform mechanism 3 and a plurality of feed source receivers; wherein the content of the first and second substances,
the fixed end of the upper guy cable mechanism 2 is fixedly arranged on the upper part of the inner ring of the star-shaped frame 1, and the movable end of the upper guy cable mechanism 2 is connected with a feed source platform 5 in a feed source platform mechanism 3; the fixed end of the lower cable mechanism 4 is fixedly arranged at the lower part of the inner ring of the star-shaped frame 1, and the movable end of the lower cable mechanism 4 is connected with an upper connecting plate 6 in the feed source platform mechanism 3; the pitching angle of the feed source platform 5 is adjusted by winding and unwinding steel wires in the upper and lower stay cable mechanisms; the feed source receiver is arranged on the feed source platform mechanism.
In this embodiment, the FAST novel feed cabin comprises 6 sets of upper cable mechanisms 2 and 3 sets of lower cable mechanisms 4; the hoisting mechanisms in the 6 sets of the guy cable mechanisms are symmetrically distributed in pairs in the star-shaped frame 1, each 3 sets of the hoisting mechanisms are uniformly distributed relative to the central line of the star-shaped frame 1, and the plane of the centers of winding drums of the 6 sets of the hoisting mechanisms is the upper plane 36 of the base platform; every two of 6 sets of Hooke joints 16 in the guy cable mechanism 2 approach and are symmetrically distributed, and the plane where the centers of the 6 sets of Hooke joints 16 are located is the lower plane 37 of the feed source platform; the 3 sets of lower cable mechanisms 4 are respectively arranged at the symmetrical center positions of two sets of upper cable mechanisms 2 which are symmetrically distributed in pairs on the 6 sets of upper cable mechanisms 2, and the plane determined by the rotating shaft centers of the 3 sets of anchoring seats 28 in the lower cable mechanisms 4 is the upper plane 39 of the feed source platform of the lower cable mechanisms; the plane determined by the centers of the winding drums of the 3 sets of lower winding mechanisms 23 in the lower cable mechanism 4 is the lower plane 38 of the base platform of the lower cable mechanism.
In this embodiment, the upper cable mechanism 2 comprises an upper base 20, an upper hoisting mechanism 19, an upper steel wire rope 18, a cable joint 17, a hook hinge 16, a rotary support 15 and a connecting bolt 14; the upper base 20 is fixedly connected to a support plate 21 through a connecting bolt 14, and the support plate 21 is welded with a ball joint and a vertical pipe of the star-shaped frame 1 into a whole; the cable joint 17 and the upper steel wire rope 18 are fixedly connected together through alloy casting, the cable joint 17 is fixedly connected with the Hooke's hinge 16 through a bolt, the Hooke's hinge 16 is fixedly connected with the inner ring of the rotary support 15 through a connecting bolt 14, and the outer ring of the rotary support 15 is fixedly connected with the connecting seat 13 on the feed source platform 5 through the connecting bolt 14; one end of the upper wire rope 18 is wound on a winding drum of the upper winding mechanism 19, the upper wire rope 18 is anchored on the winding drum at one end of the winding drum, the upper wire rope 18 is in a lower rope outlet structure layout, and the winding drum is driven to rotate forwards and backwards through a motor so as to control the length of the upper wire rope 18; the upper cable mechanism 2 is connected with the feed source platform 5 through a cable joint 17, a Hooke joint 16 and a rotary support 15, and adapts to the change of the angle of the upper steel wire rope 18 during working.
In this embodiment, the lower cable mechanism 4 includes a lower base 22, a lower winding mechanism 23, a lower steel cable 24, an open cable joint 25, a pin shaft 26, a cross slide 27, an anchoring seat 28, a rotating seat 29, a rotating shaft 30, a rotating cushion block 31, a washer 32, a nut 33, a cotter pin 34 and a washer 35; the lower base 22 is fixedly connected at the lower edge of the inner part of the star-shaped frame 1; the lower steel wire rope 24 and the open cable joint 25 are fixedly connected together through alloy casting; considering the interference factor of the inner space, the lower steel wire rope 24 is in an upper rope outlet structure layout; the rotating cushion block 31 and the rotating seat 29 are connected with the upper connecting plate 6 through the rotating shaft 30, the gasket 32 and the nut 33, the rotating cushion block 31 is arranged between the rotating seat 29 and the upper connecting plate 6, and the rotating cushion block 31 plays a role in supporting and reducing friction force when the rotating seat 29 rotates around the rotating shaft 30; the anchoring seat 28 is fixedly connected with the rotating seat 29, and the cross slide block 27 is connected with the anchoring seat 28 through a pin shaft 26; the open cable joint 25 is connected with a lower hole of the cross slide block 27 through a pin shaft 26; a washer 35 and a cotter pin 34 are mounted at the axial end of the pin shaft 26 to ensure a reliable pin connection.
In this embodiment, the feed platform mechanism 3 includes a feed platform 5, an upper connection board 6, a connection structure 7, a # 1 receiver 8, a # 2 receiver 9, a # 3 receiver 10, a # 4 receiver 11, a # 5 receiver 12, and a connection socket 13; the feed source platform 5 is fixedly and rigidly connected with the upper connecting plate 6 through a connecting structure 7; the upper connecting plate 6 is a carrier of the upper plane 39 of the feed source platform of the lower cable mechanism 4. 5 sleeve receivers are simultaneously installed on the feed source platform mechanism 3, and can be switched randomly according to FAST observation requirements, so that the time spent on disassembling and replacing different receivers is saved.
In summary, the invention relates to a novel feed source cabin for realizing fine adjustment of the position and the posture of a feed source platform by adopting a nine-cable driving parallel mechanism, which is used for upgrading and reconstructing the existing feed source cabin, wherein the feed source cabin of the nine-cable driving parallel mechanism comprises a star-shaped frame, 6 sets of upper pull cable mechanisms, 3 sets of lower pull cable mechanisms, the feed source platform, a plurality of sets of feed source receivers and the like. Compared with the existing feed source cabin, the feed source cabin has the advantages that an A ring and a driving mechanism of an AB rotating shaft mechanism, a B ring (Stewart upper platform) and a driving mechanism and a Stewart six-leg mechanism are omitted, and only a feed source platform (Stewart feed source platform) is reserved. The feed source platform is expanded to a round table-shaped frame structure comprising an upper connecting plate and a lower connecting plate, wherein the lower connecting plate is provided with a feed source receiver, the outer edge of the lower connecting plate is also provided with Hooke hinges of 6 upper pull cables, and the outer edge of the upper connecting plate is provided with Hooke hinges of 3 lower pull cables. The 9 sets of guy cable mechanism winding drums are all fixedly connected to the star-shaped frame and can be called as a base platform, wherein 6 sets of winding drums corresponding to the upper guy cables are located on the upper side (the upper plane of the base platform), and 3 sets of winding drums corresponding to the lower guy cables are located on the lower side (the lower plane of the base platform). The mechanism realizes the change of the pitching angle of the feed source platform through the retraction and release of 6 upper inhaul cables (the feed source angle compensation is realized through the trajectory planning, and the mechanism can also be called as angle control). The plane of the center of the 6 sets of Hooke joints is set as the lower plane of the feed source platform; the centers of hooke joints of the 3 sets of lower cable mechanisms are uniformly distributed and installed in the upper connecting plate, and the plane determined by the centers of the hooke joints is the upper plane of the feed source platform. The 3 sets of lower cable parallel mechanisms mainly have the function of increasing the anti-interference capacity of the feed source platform.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A novel FAST feed cabin based on a nine-cable drive parallel mechanism is characterized by comprising: the feed source receiving device comprises a star-shaped frame, a plurality of upper pull cable mechanisms, a plurality of lower pull cable mechanisms, a feed source platform mechanism and a plurality of feed source receivers; wherein the content of the first and second substances,
the fixed end of the upper guy cable mechanism is fixedly arranged on the upper part of the inner ring of the star-shaped frame, and the movable end of the upper guy cable mechanism is connected with a feed source platform in the feed source platform mechanism; the fixed end of the lower cable mechanism is fixedly arranged at the lower part of the inner ring of the star-shaped frame, and the movable end of the lower cable mechanism is connected with an upper connecting plate in the feed source platform mechanism; the pitching angle of the feed source platform is adjusted by winding and unwinding steel wire ropes in the upper and lower cable pulling mechanisms; the feed source receiver is installed on the feed source platform mechanism.
2. The FAST novel feed cabin based on the nine-rope drive parallel mechanism according to claim 1, wherein the FAST novel feed cabin comprises 6 sets of upper rope pulling mechanisms and 3 sets of lower rope pulling mechanisms; the hoisting mechanisms in the 6 sets of the inhaul cable mechanisms are symmetrically distributed in pairs in the star-shaped frame, every 3 sets of the inhaul cable mechanisms are uniformly distributed relative to the central line of the star-shaped frame, and the plane of the centers of winding drums of the 6 sets of the hoisting mechanisms is the upper plane of the base platform; every two of 6 sets of Hooke joints in the guy cable mechanism approach and are symmetrically distributed, and the plane where the centers of the 6 sets of Hooke joints are located is the lower plane of the feed source platform; the 3 sets of lower cable mechanisms are respectively arranged at the symmetrical center positions of two sets of upper cable mechanisms which are symmetrically distributed in pairs of the 6 sets of upper cable mechanisms, and the plane determined by the rotating shaft centers of the 3 sets of anchoring seats in the lower cable mechanisms is the upper plane of a feed source platform of the lower cable mechanisms; the plane determined by the centers of the winding drums of 3 sets of lower winding mechanisms in the lower cable mechanism is the lower plane of the base platform of the lower cable mechanism.
3. The FAST novel feed source cabin based on the nine-rope driving parallel mechanism is characterized in that the cable pulling mechanism comprises an upper base, an upper hoisting mechanism, an upper steel wire rope, a cable joint, a Hooke's joint, a rotary support and a connecting bolt; the upper base is fixedly connected to a supporting plate through a connecting bolt, and the supporting plate is welded with the ball joint and the vertical pipe of the star-shaped frame into a whole; the cable joint and the upper steel wire rope are fixedly connected together through alloy casting, the cable joint is fixedly connected with the Hooke hinge through a bolt, the Hooke hinge is fixedly connected with the inner ring of the rotary support through a connecting bolt, and the outer ring of the rotary support is fixedly connected with the connecting seat on the feed source platform through a connecting bolt; one end of the upper steel wire rope is wound on a winding drum of the upper winding mechanism, the upper steel wire rope is anchored on the winding drum at one end of the winding drum, the upper steel wire rope is in a lower rope outlet structure layout, and the winding drum is driven by a motor to rotate forwards and backwards so as to control the length of the upper steel wire rope; the cable pulling mechanism is connected with the feed source platform through a cable joint, a Hooke's joint and a rotary support, and is suitable for the change of the angle of the upper steel wire rope during working.
4. The FAST novel feed source cabin based on the nine-rope drive parallel mechanism according to claim 1, wherein the lower rope mechanism comprises a lower base, a lower hoisting mechanism, a lower steel wire rope, an open rope joint, a pin shaft, a cross slide block, an anchoring seat, a rotating shaft, a rotating cushion block, a nut, a split pin and a gasket; the lower base is fixedly connected to the lower edge of the inner part of the star-shaped frame; the lower steel wire rope is fixedly connected with the open cable joint through alloy casting, and the lower steel wire rope is in an upper rope outlet structure layout; the rotating cushion block and the rotating seat are connected with the upper connecting plate through the rotating shaft, the gasket and the nut, and the rotating cushion block is arranged between the rotating seat and the upper connecting plate and plays a role in supporting and reducing friction force when the rotating seat rotates around the rotating shaft; the anchoring seat is fixedly connected with the rotating seat, and the cross-shaped sliding block is connected with the anchoring seat through the pin shaft; the open cable joint is connected with a lower hole of the cross sliding block through a pin shaft; the gasket and the cotter pin are arranged at the shaft tail end of the pin shaft to ensure that the pin shaft connection is reliable.
5. The FAST novel feed cabin based on the nine-rope drive parallel mechanism according to claim 1, wherein the feed platform mechanism comprises a feed platform, an upper connecting plate, a connecting structure, a # 1 receiver, a # 2 receiver, a # 3 receiver, a # 4 receiver, a # 5 receiver and a connecting seat; the feed source platform is fixedly and rigidly connected with the upper connecting plate through the connecting structure; the upper connecting plate is a bearing body on the upper plane of the feed source platform of the lower inhaul cable mechanism.
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| CN116108701A (en) * | 2023-04-10 | 2023-05-12 | 中国科学技术大学 | FAST novel feed cabin mechanism kinematics positive solution solving and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116108701A (en) * | 2023-04-10 | 2023-05-12 | 中国科学技术大学 | FAST novel feed cabin mechanism kinematics positive solution solving and control method |
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