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中文摘要：
大射电望远镜馈源柔索支撑系统是一类大跨度柔索并联机器人（WDPR）。为了抑制悬索虚牵和馈源舱的风致振动，提出了在此机器人的动平台上增加盛液容器的结构新方案。首先，运用Guldin定理确定轮胎状附加容器中液体体积在并联机器人的不同俯仰角度处的静态分布规律，进而建立此机构的力学模型；其次，建立WDPR非线性两层优化模型，并应用遗传算法获得LT500m附加容器结构的优化参数；最后，从数值分析和实验两种途径分别检验新方案克服悬索虚牵和抑制风振的效果。分析与实验结果表明与原构型相比，该结构方案能够抑制悬索的虚牵和风致振动。
英文摘要：
The feed cable support system of a large radio telescope is a long-span wire-driven parallel robot （WDPR）. To restrain the wind-induced vibration of its feed cabin and the pseudo-drag of its cable, we propose a new structural scheme for adding a fluid vessel to the moving platform of the robot. First, we apply the Guldin theorem to ensuring that the static distribution of the liquid volume of the fluid vessel varies with the pitching angle of the parallel robot, whose mechanical model is thus established. Next, we set up the non-linear hi-level optimization model of the WDPR and obtain the optimal structural parameters of the large radio telescope with a diameter of 500 m using genetic algorithm. Finally we conduct numerical analysis and experiments to examine the restrictive effects of the new scheme on the pseudo-drag and wind-induced vibration. The experimental results show that the new scheme achieves satisfactory results of restraining the pseudo-drag and wind-induced vibration.
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