多机器人协调吊运系统动力学工作空间分析  

Dynamical workspace of multi-robot collaborative towing system

作　　者：赵志刚[1] 王砚麟[1] 马延[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,甘肃兰州730070 [2]上海交通大学机械与动力工程学院,上海200030

出　　处：《哈尔滨工程大学学报》2017年第7期1079-1085,1161,共8页Journal of Harbin Engineering University

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

摘　　要：针对多机器人通过柔索协同吊运同一重物的并联机器人系统,分析不同因素对系统动力学工作空间的影响。依据力旋量平衡方程建立了吊运系统的动力学模型,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,并对系统的动力学工作空间和工作空间质量进行了分析。通过实例仿真计算得到了系统在不同工况下的动力学工作空间,并获得不同因素对系统动力学工作空间的影响规律,所得结果为进一步研究系统轨迹规划和运动稳定性提供了一定的基础。The influence of different factors on the dynamical workspace was analyzed for the parallel robot system in which many robots collaboratively tow the same object by cables. First, the dynamic model on the towing system was established using force spinor balance equation. Second, a solution for closing the force spinor of the under-constrained system was given using the virtual cable method. Third, the dynamical workspace and quality of the dy-namical workspace of towing system were analyzed. Finally, the dynamical workspaces of the towing system in dif-ferent conditions were obtained through actual simulation calculation. The influence of different factors on the dy-namical workspace of the towing system was also determined. Results of this study provide a basis for further re-search on the trajectory plan and dynamic stability of the system.

关 键 词：多机器人系统 吊运系统 动力学工作空间 工作空间质量 虚拟柔索法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]