An approximately analytical solution method for the cable-driven parallel robot in FAST

Abstract The Five-hundred-meter Aperture Spherical radio Telescope (FAST) is the largest single-dish aperture telescope with a cable-driven parallel robot introduced to achieve highest sensitivity in world. However, realize high-precision, mechanical equations of such are always complicated, so that it difficult real-time control by traditional iterative method. In this regard, paper proposes an approximately analytical solution method, which uses linear relationship between main parameters FAST bypass some iterations. With coefficients extracted, static or quasi-static can be analytically solved. paper’s example, method saves at least 90% calculating time and calculated values consistent experimental data. huge efficiency improvements, high-precision will no longer work. Besides, all work expected used FAST.