Optimization of Cable Tensions of a Cable-Driven Parallel Manipulator for a Large Radio Telescope

We apply the exact expression of catenory to build a non-linear static model of a cable-driven parallel manipulator to derive the cable tensions and lengths for the control of the feed cabin for a large radio telescope.A linear simplification of the model called the Pseudo-Curve Model is also presented.While ensuring the precision,the Pseudo-Curve Model increases efficiency,which makes real-time control and future more massive calculations possible.Using the Pseudo-Curve Model,we set a set of values of the atlitude angle of the feed cabin under constraints on cable tensions.An optimization scheme is proposed to ensure well-proportioned tensions in the cables and to avoid interferences between cables.A numerical test confirms the accuracy and efficiency of the Pseudo-Curve Model with which accurate tension,length,and attitude-angle values of cables are finally derived.