浮动基多机协调吊运系统的动力响应仿真分析  

Dynamic response simulation analysis of floating base multi-robot coordinated lifting system

作　　者：王志睿 赵志刚[1] 苏程[1] 单子伟 WANG Zhirui;ZHAO Zhigang;SU Cheng;SHAN Ziwei(School of Mechatronic Engineering,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：《振动与冲击》2021年第23期232-238,共7页Journal of Vibration and Shock

基　　金：国家自然科学基金(51965032);国家自然科学基金(51265021)。

摘　　要：提出一种新型浮动基多机协调并联吊运系统,该系统由3台浮式机器人及柔索并联系统构成。以该系统为研究对象,利用D-H变换及齐次变换矩阵对整个系统进行运动学建模。根据流体力学理论建立了浮基的垂向的动力学方程。针对不同的吊运系统构型,利用拉格朗日方程分别建立了吊运系统的动力学模型。引入数值分析的思想,提出一种新的模型用于描述由于负载运动与浮基运动所产生的双向动力学耦合。并结合实例,采用数值仿真的方法,对不同耦合情况下整体系统在垂向的动力响应进行了分析比较。所得结论可用于该机构进一步的理论研究及样机研发,也可用于起重船吊物系统的动力响应研究。Here,a new type of floating base multi-robot coordinated parallel lifting system was proposed,it was composed of 3 floating robots and a flexible cable parallel system.Taking this system as the study object,the kinematic model of the whole system was established using D-H transformation and homogeneous transformation matrix.According to the theory of fluid dynamics,the vertical dynamic equation of floating base was established.According to different lifting system configurations,dynamic models of the lifting system were established using Lagrange equation.Introducing the idea of numerical analysis,a new model was proposed to describe the bidirectional dynamic coupling caused by load motion and floating base motion.Combined with an actual example,vertical dynamic responses of the whole system under different coupling conditions were analyzed contrastively using the method of numerical simulation.It was shown that the conclusions obtained here can be used for further theoretical study and prototype development,and also for dynamic response study of lifting systems of crane ship.

关 键 词：多机器人协调吊运 运动学模型 动力学模型 双向耦合 动力响应 

分 类 号：TH212[机械工程—机械制造及自动化] TH213.3