부산대학교 도서관

In view of the long-term operation and maintenance needs of the Five-hundred-meter Aperture Spherical radio Telescope (FAST) feed cabin, focusing on the practical problems of limited installation space of the feed cabin, numerous disassembly and assembly bolts, low disassembly and assembly efficiency of the feed cabin and high cost, an intelligent robot arm integrating positioning, identification and disassembly is designed. Through the stability analysis of the control system, the amplitude margin is 5.69dB and the phase margin is 49.1deg, meeting the system stability requirements. Through finite element static analysis, modal analysis, harmonic response analysis and test verification, the effective operation and maintenance radius of the robot arm is 1.5m, the maximum torque can reach 130N·m, and the movement space is ±170 °, which can realize the rapid disassembly and assembly of M8 bolts and M12 bolts, and provide technical support for the operation and maintenance of FAST feed cabin.