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中文摘要：
介绍了大射电望远镜（LT）索支撑馈源系统附加被动控制索系的设计方案，建立了该构型的运动学正逆解模型。基于Jayaraman等推导的悬链线索元有限元理论，通过迭代法求解出倾斜索索端张力已知情况下的索原长；运用索原长求解技术求取LT舱索系统的运动学正逆解模型；分别运用正逆解模型对LT500m馈源舱的运动进行仿真分析，验证了正逆解算法的快速收敛性和稳定性。研究结果为大跨度柔索并联机器人（WDPR）运动的实时控制奠定了理论基础。
英文摘要：
The feed supporting system with passive control cables for a large radio telescope （LT） was introduced, and the direct and inverse kinematics models were done. The unstressed length of the cable was first solved based on the catenary finite element theory deduced by H. B. Jayaraman when the end tension force of a decline cable was given. The direct and inverse kinematics models were next solved using the solution of the unstressed length of the cable. Finally,the kinematics analysis of the cable-cabin system for LT500m was made by the direct and inverse kinematics models. The simulation result shows that the methods proposed for the direct and inverse models are stable and quickly convergent so that it lays the theoretic foundation for real time control of the kinematics of the large-pan wire driven parallel robot （WDPR） system.
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