多机器人欠约束绳牵引系统静平衡工作空间分析  

Analysis of Static Equilibrium Workspace for Under-constrainted Cable-driven System with Multi-robots

作　　者：赵志刚[1] 李巍[1] 李有德[1] 王砚麟[1] 马延[1] Zhao Zhigang Li Wei Li Youde Wang Yanlin Ma Yan(School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, Chin)

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》2017年第4期708-713,共6页Journal of System Simulation

基　　金：国家自然科学基金(51265021);高等学校博士学科点专项科研基金(20126204120004);教育部科学技术研究重点项目(212184);甘肃省自然科学基金(1212RJZA067)

摘　　要：由于多机器人绳牵引负载的欠约束系统,不满足力封闭条件,同时方程组一般不相容,无法求出准确的工作空间。建立了系统的静平衡方程,提出利用最小二乘法原理结合蒙特·卡罗方法,对负载低速或准静态运动时,能够快速求出其近似静平衡工作空间,并分别利用法方程和QR分解给出了绳拉力的表达式。在机器人的位置和负载的位姿不发生力旋量失效的情况下,其有唯一的最小二乘解。通过仿真验证了该方法的有效性,利用该方法可快捷地求出不同空间构型的欠约束绳牵引系统的静平衡工作空间,为系统规划与控制的研究提供了基础。For the under-constrainted system that multi-robots tow the payload by cables, which does not meet the condition of force closure and equations are generally not compatible, so the accurate workspace can＇t be found out. The static equilibrium equation of the system was established, and then the least squares principle combined with the Monte-Carlo method was put forward. When the movement is low speed or quasi static for the payload, the approximate static equilibrium workspace can be found out quickly and the expression of the cable tension is given by using the normal equations and QR decomposition respectively. When position of robots and position and pose of the payload happen that the wrench isn＇t failed, there is the unique least square solution.The effectiveness of the proposed method was validated by computer simulation, the method can be used to quickly find out static equilibrium workspace of the under-constrainted cable-driven system for different space configuration, which provides the foundation to the research of planning and control for the system.

关 键 词：欠约束 静平衡 工作空间 仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]