Working Space Analysis And Optimization Of The Main Positioning System Of Fast Cabin Suspension

This paper devotes to the working space analysis of the main positioning system of FAST cabin suspension, a flexible-cable-driven parallel manipulator. The problem formulation is deduced through equilibrium analysis of the cabin platform and suspension cables, which changes subsequently into a nonlinear constrained optimization intending a uniform allocation of the six cable tension force. The analysis verifies the accessibility of focus cabin to the whole focus surface. The optimization investigates the orientation of the focus cabin under equilibrium and the optimal cable forces, as well as elaborates their importance in the finite element modeling of the cable-cabin system and the respective layout designs of the rotator, Stewart stabilizer and caps-tan motors. In the end, the influences of the tower height and the position of mass center of the focus cabin on the optimization results are discussed.