紧耦合多机器人联合吊运系统虚拟平台仿真分析  

Simulation Analysis of Virtual Platform of Close-coupling Multiple Robots Combined Lifting System

作　　者：苏程[1] 王砚麟[1] 刘继涛[1] 赵志刚[1] 

机构地区：[1]兰州交通大学机电工程学院,兰州730070

出　　处：《系统仿真学报》2015年第12期2981-2987,共7页Journal of System Simulation

基　　金：国家自然科学基金资助项目(51265021);甘肃省自然科学基金资助项目(1212RJZA049)

摘　　要：构建了紧耦合多机器人联合吊运系统虚拟仿真平台的框架,基于UG(Uni Graphics)建立了多机器人系统模型,建立了移动机器人的数学模型和被操作物的静力平衡方程,搭建了基于ADAMS(Automatic Dynamic Analysis of Mechanical Systems)和MATLAB(MATrix LABoratory)的闭环联合控制仿真系统。在紧耦合多机器人联合吊运系统中,根据规划的两种不同运动轨迹,对数学模型的计算绘图和联合仿真模型输出曲线图进行了比较分析,验证了所建立的移动机器人数学模型的正确性,同时也验证了所搭建的联合仿真控制系统的合理性,为后续紧耦合多机器人联合吊运系统动力学、运动稳定性分析等奠定了重要基础。A framework of virtual simulation platform of close-coupling multiple robots combined lifting system was constructed. The model of the multiple robots system was established based on UG. The mathematical model of the mobile robot and the static equilibrium equation of the operated object was established. A collaborative control simulation system was set up based on ADAMS and MATLAB closed loop. In close-coupling multiple robots combined lifting system, according to two different trajectory planning, calculating draw of the mathematical model and the co-simulation model output curves were compared and analyzed to verify the correctness of the mathematical model of the mobile robot, validating the rationality of the co-simulation control system, which lays an important the foundation for dynamics and motion stability analysis of subsequent close-coupling multiple robots system.

关 键 词：多机器人系统 移动机器人 数学建模 轨迹规划 联合控制仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]