Study of Driving Force for Large Radio Telescope's Suspending Cable Feed System
Sun Xin, Qiu Yuanying, Duan Baoyan
(School of Mechanical-Electronics Engineering, Xi Dian University, Xi' an 710071, P.R. China) 

Abstract: Dividing the cable of large radio telescope's suspending cable Feed System into tension-only rob element, while pose, velocity and acceleration of feed cabin have been given, for the cable flexibility feature, inverse kinematics and inverse dynamics model of the system are established in this paper. Then, position, velocity, acceleration and inertia force of nodes on the cables can be calculated. Due to gravity and inertia force, catenary is not suitable for flexible cable in this case. To investigate displacement of cable, 3 dimensions curve equation is induced first. Flexible deformation is also included when an iterative algorithm is developed for obtaining driving force. Numerical results on this system indicate that the system can be accurately controlled by inverse algebra kinematics model when acceleration of feed cabin is limited.
Keywords: Inverse kinematics, inverse dynamics, suspending cable, driving force.