欠约束多机协调吊运系统工作空间和运动稳定性分析  

Analysis of the workspace and dynamic stability of a multi-robot collaboratively towing system

作　　者：王砚麟[1] 赵志刚[1] 苏程[1] 李劲松[2] 季钢[2] 

机构地区：[1]兰州交通大学机电工程学院,兰州730070 [2]上海交通大学机械与动力工程学院,上海200030

出　　处：《振动与冲击》2017年第16期44-50,共7页Journal of Vibration and Shock

基　　金：国家自然科学基金资助(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(212184);甘肃省自然科学基金资助(1212RJZA067)

摘　　要：主要针对多机器人协调吊运系统的工作空间和运动稳定性进行分析,根据吊运系统驱动配置情况将系统分为3类;其次应用牛顿欧拉方程建立了系统的广义动力学模型;采用虚拟柔索法给出了该欠约束系统力旋量封闭的解决方案,并对系统工作空间进行了分析,依据广义逆矩阵理论给出了系统满足运动要求时柔索拉力的最优解;根据克拉索夫斯基法给出了吊运系统的运动稳定性判据;根据实例参数,对3类系统的工作空间进行了数值仿真分析,并应用方阵特征值分解法对工作空间中所有点的稳定性进行了计算。结果表明,3类系统在各自工作空间内均是稳定的,并获得了3类系统的稳定程度关系,研究结果为后续优化系统运动轨迹规划和防摆控制打下基础。; This paper aims to analyze the workspace and dynamic stability of a multi-robot collaboratively towing system. Firstly, the towing system was divided into three types of systems according to the driving configuration. Secondly, a generalized dynamic model of the system was established by Newton-Euler equations. Next, the method to solve the wrench enclosed of an under-constrained system was given by using the method of virtual cables. Its workspace was analyzed. An optimal result of the cables tension that satisfies the motion requirements of the system was given based on the generalized inverse matrix theory. Subsequently, the criterion of dynamic stability was given by the Krasovskii method. Finally, the system was parameterized by combining with a practical example. Numerical simulation and analysis of the workspaces of three types of systems were given. Stability calculations of all workspaces spots were done by using the method of the square matrix eigenvalue decomposition. The results show that three types of systems were dynamically stable in their workspaces. The relationships for the degree of stable of the three kinds of systems were obtained. The results have provided foundation for further research on optimization of motion trajectory planning and anti-sway control of towing systems.

关 键 词：吊运系统 多机器人系统 广义动力学模型 工作空间 稳定性分析 

分 类 号：N945.12[自然科学总论—系统科学] TP391.9[自动化与计算机技术—计算机应用技术]