Modeling Methods for the Long-Span Cable-Driven Parallel Robot

The FAST feed support system includes the first-level support system and the second-level fine-tuning system (platform). The former is a cable-driven parallel robot (CDPR) driven by six steel cables with a span of 600 m, which is a typical long-span suspended CDPR. The cable weight and elastic deformation affect the kinematic modeling of the CDPR. When conducting kinematic modeling of the long-span CDPR, the effects of the elasticity and weight of cables need to be considered. This chapter focuses on the integrated kinematic and static modeling methods for the long-span CDPR including the modeling method of the long-span CDPR and the error compensation method with higher-order polynomials. The modeling, error analysis, and compensation of the first-level support system are completed and can be applied in the closed-loop control to improve the terminal accuracy.