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中文摘要：
柔索驱动并联机器人采用柔索代替连杆作为驱动元件，并结合了并联机构和柔索驱动的优点。500m口径大射电望远镜（Five—hundred meter aperture spherical radio telescope，FAST）粗调系统通过6根索长的协调变化使馈源舱作跟踪射电源的6自由度运动，其工作特点与并联机器人类似，因此可被看作柔索驱动并联机器人。基于此，根据FAST5m缩比试验模型，首先应用悬链线解析表达式推导出柔索两端固定时索端拉力与索长之间的关系，用于求解特定长度的驱动柔索对处于某一位姿的馈源舱的作用力。其次，对该舱索系统进行逆运动学分析，采用拉格朗日方程建立柔索驱动并联机器人的逆动力学模型。最后，针对FAST5m缩比模型的设计方案进行动力学仿真，数值结果表明该动力学建模是合理的。
英文摘要：
Cable-driven parallel manipulator （CPM）, in which cables are used to replace links to manipulate objects, is developed from parallel and serial cable driven manipulator. Compared with the parallel manipulator, this kind of manipulator has more advantages. The cooperative variation of lengths of the six long cables pulls the feed cabin to track radio source with 6 DOFs. Similar to a parallel manipulator, the cable-driven system for five-hundred meter aperture spherical radio telescope （FAST） is viewed as a CPM. According to its 5 m scaled model, the relationship between end forces and cable length is derived based on the analytical equation of catenary of a cable with two endpoints fixed. So the actuating forces on the cabin locating at a certain position and pose can be solved with the given driving cable lengths. Secondly, based on the inverse kinematics analysis the inverse dynamic formulation of CPM is established by using Lagrange＇s equations. Finally, the dynamic modeling can be justified by the example.
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