考虑静刚度多机器人联合吊运系统可行域分析  

Analysis of Feasible Region on the Multi Robot Combined Lifting System by Considering the Static Stiffness

作　　者：马延[1] 赵志刚[1] 王砚麟[1] 苏程[1] 

机构地区：[1]兰州交通大学机电工程学院,甘肃兰州730070

出　　处：《计算机仿真》2017年第7期307-311,315,共6页Computer Simulation

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

摘　　要：多机器人联合吊运系统的刚度导致的系统形变会使系统的可行域发生改变,为此需对多机器人联合吊运系统静刚度以及可行域进行分析。利用空间几何位置关系,得到了吊运系统位置方程。利用空间力平衡方程,得到了包含变机器人末端位置的机器人形变模型和柔索形变模型。不仅考虑了吊运系统静刚度模型中柔索的单向受拉性及柔索具有的自由度特性因素,并且结合了机器人刚性形变引起的末端位置变化,耦合机器人静刚度与柔索刚度建立了吊运系统的静刚度模型。最后结论得出考虑静刚度的可行域相对于未考虑静刚度在空间位置上发生了改变,并且得出柔索刚度对于吊运系统可行域的影响大于机器人刚度。In the muhi-robot combined lifting system, the feasible region can be changed by the system deforma- tion caused by the stiffness. To solve the problem, the static stiffness and feasible region of multi robot combined lift- ing system is analyzed. The position equation of suspended object is established by the relationship of spatial geomet- ric position. The model of robot deformation and cable deformation, including the transformation of the position of ro- bot end-effector, is established by the space force-balance equation. Not only the unidirectional tension of the cable with degrees of freedom characteristic factor but also the end position of the change caused by the fully elastic deform- ation are considered by the static stiffness model of flexible cable-driven lifting system. The coupling of robot static stiffness and stiffness of cable are all included in the static stiffness model of cable-driven lifting system. The final re- sults show that the feasible region of flexible cable-driven parallel robot system is changed by considering the static stiffness, and the influence of the stiffness of the flexible cable is greater than that of the robot.

关 键 词：可行域 静刚度 多机器人 联合吊运系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]