Dynamic Modeling of the Rigid-Flexible Series Coupling System

The cable-driven parallel robot in the FAST feed support system is characterized by long span and low stiffness, and is a flexible manipulator. The fine-tuning Stewart platform is a rigid robot. They are connected in series, and form a typical flexibly supported robot system, which is also called the rigid-flexible coupling system. The dynamic modeling of the flexibly supported parallel robot is the theoretical foundation for the study of the force characteristics and vibration suppression control of the FAST feed support system, which is also a prerequisite for engineering problems, such as the construction of the driving system and the structural check. In this chapter, the elastic dynamic model of the CDPR is established based on the equivalent spring damping model of the cable, the dynamic model of the FAST feed support system is established based on the coupling relation between motion and force, and a wind load model of the FAST feed cabin is established according to the Davenport spectrum.