轮式移动多机协调吊运系统倾覆稳定性仿真与分析  

SIMULATION AND ANALYSIS OF TIPOVER STABILITY OF WHEELED MOBILE MULTI-ROBOT COORDINATED TOWING SYSTEM

作　　者：张少辉 赵志刚[1] 丁旺才[1] 苏程[1] ZHANG ShaoHui;ZHAO ZhiGang;DING WangCai;SU Cheng(School of Mechatronic Engineering y Lanzhou Jiaotong University,Lanzhou 730070,China)

机构地区：[1]兰州交通大学机电工程学院,兰州730070

出　　处：《机械强度》2021年第5期1239-1244,共6页Journal of Mechanical Strength

基　　金：国家自然科学基金项目(51265021,51965032)资助。

摘　　要：移动多机协调吊运过程中,移动机器人由于自身的倾覆将导致系统损坏、作业失败及人员伤亡等一系列问题。首先将系统分为移动机械臂和吊运系统两部分,分别建立了其运动学模型,并运用拉格朗日法和牛顿-欧拉法分别建立了两部分的动力学模型,接下来采用数值法求解了系统的运动学逆解,然后基于力-角稳定性判据分析了系统的稳定性,最后利用Matlab软件比较了每组机械臂运动学逆解对应的稳定角大小,得到一组最优解,为后续进一步研究系统运动稳定性、轨迹规划和系统控制奠定了基础。In the process of mobile multi-robot coordinated towing,the mobile robot will cause a series of problems such as system damage,operation failure,and casualties due to its overturning.First,the system is divided into two parts:the mobile manipulator and the towing system.The kinematics models are established respectively.The Lagrangian method and the NewtonEuler method are used to establish the two parts of the dynamic model.The numerical method is used to solve the inverse kinematics of the system,and then to analyze the stability of the system based on the force-angle stability measure.Finally,Matlab software is used to compare the stability angles corresponding to the inverse kinematics of each group of manipulator to obtain a set of most excellent solution.The result lays the foundation for the further study of system motion stability,trajectory planning and system control.

关 键 词：移动机械臂 多机器人系统 吊运系统 运动学逆解 稳定性分析 

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]