紧耦合多直升机协调吊运系统逆运动学分析与求解  

Analysis and calculation on inverse kinematics of close-coupling multi-helicopter collaboratively towing system

作　　者：王砚麟[1] 赵志刚[1] 马延[1] 石广田[1] 

机构地区：[1]兰州交通大学机电工程学院,兰州730070

出　　处：《应用力学学报》2017年第4期728-734,共7页Chinese Journal of Applied Mechanics

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(1212RJZA067)

摘　　要：针对紧耦合多直升机协调吊运系统的逆运动学进行了分析,通过描述系统的结构模型,利用闭环矢量和牛顿-欧拉方程建立了系统的运动学模型和动力学模型;随后对系统的逆运动学进行了分析,将其分为定柔索长度和变柔索长度两种情况进行研究;最后在给定被吊运物运动期望位姿的情况下,对两种情况分别进行了数值计算,并通过ADAMS和MATLAB软件搭建了实验平台,进行了实例仿真分析。结果表明,建立的系统逆运动学模型是合理的,可以实时地求得各直升机的运动以及各柔索的受力情况。本文为优化拉力分布和研究系统控制算法奠定了基础。The inverse kinematics of close-coupling multi-helicopter collaboratively towing system is analyzed. Firstly, the structural model of the system is presented. And then, kinematic and dynamic models of the system are established by using of closed-loop vector and Newton-Euler equations. Subsequently, the inverse kinematics of system, which is divided into two cases that fixed length and variant length of cable, is analyzed. Finally, the expected position and orientation of the towed object are given, and the numerical simulations of the two cases are given. Using the software ADAMS and MATLAB, the virtual experiment platform is established. Results show that the proposed inverse kinematic model is reasonable, the real-time motion of the helicopters and the tension of the cables can be obtained, it lays a foundation for further optimizing the tension of cables and designing the control algorithm of the system.

关 键 词：紧耦合 多直升机系统 协调吊运系统 逆运动学 

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]