柔索牵引式多机器人协调吊运系统的运动性能  

Kinematic behavior of cable-driven multi-robot collaboratively towing system

作　　者：赵志刚[1] 王砚麟[1] 

机构地区：[1]兰州交通大学机电工程学院,兰州730070

出　　处：《中国科技论文》2016年第22期2537-2541,2552,共6页China Sciencepaper

基　　金：高等学校博士学科点专项科研基金资助项目(20126204120004);国家自然科学基金资助项目(51265021)

摘　　要：针对柔索牵引式多机器人协调吊运系统的运动性能进行分析,首先建立了系统的运动学和广义动力学模型,依据驱动配置的不同将系统分成定柔索长度、变柔索长度以及机器人末端和柔索长度同时变化3类,随后分析了系统的工作空间,并给出了柔索拉力最优解,接下来采用可操作度和雅克比矩阵条件数性能指标分析了系统的奇异性和灵巧性。最后通过实例计算,给出了其中定柔索长度、机器人末端和柔索长度同时变化这2类系统的工作空间、可操作度和条件数分布情况以及接近奇异位形的空间位置。结果表明,定柔索长度及机器人末端和柔索长度同时变化的2类吊运系统在工作空间内均不存在奇异位形和不定位形,接近奇异位形的区域均在各自工作空间的上半部分,研究结果为系统的规划和优化提供了重要的数据依据。The kinematics behavior of cable-driven multi-robot collaboratively towing system was presented in this paper.Firstly,the kinematic and generalized dynamic models of system were established,and the system was divided into three sub-systems according to the different drive configurations.Subsequently,the workspace of system was analyzed,and the optimum solution of cable tension was given.Next,singularity and smartness of system were analyzed by ascertaining the indices of operability and condition number of Jacobian matrix.Finally,through the example,the workspace,distributions of indices of operability and condition number and space position of close to the singularity of two kinds systems were given.The results indicate that the singular and uncertain position are not exist in the workspace and the areas close to the singular configurations at the top of the workspace,which provides foundation of important data for planning and optimization of systems.

关 键 词：吊运系统 多机器人系统 工作空间 奇异性 灵巧性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]