多机协作吊装机器人动力学分析与路径规划  

Dynamics and Path Planning of Multi-crane Cooperative Lifting Robot

作　　者：钱森[1] 钱鹏飞 王春航 周斌[1] 訾斌[1] QIAN Sen;QIAN Pengfei;WANG Chunhang;ZHOU Bin;ZI Bin(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009)

机构地区：[1]合肥工业大学机械工程学院,合肥230009

出　　处：《机械工程学报》2022年第7期20-31,共12页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51925502,52175013,U19A20101);中央高校基本科研业务费专项资金(JZ2020HGTB0034)资助项目。

摘　　要：随着工程任务日趋复杂艰巨,施工环境愈发恶劣,单台起重机已很难承担复杂的吊装任务,而多台起重机联合作业具有结构稳定、负载能力强、吊装空间大、布局灵活的优点,得到了广泛应用。以多机协作吊装机器人为研究对象,采用拉格朗日方法建立了多机协作吊装机器人的动力学模型;采用蚁群算法规划吊装路径,针对蚁群算法难以避免局部最优以及无解蚂蚁数量多等问题,提出三值法平面栅格环境建模、基于最佳-次佳路径长的信息素分阶更新策略和信息素挥发因子动态调整函数,仿真结果表明,改进蚁群算法相对于传统蚁群算法,明显提高了最佳路径长度、运算效率等指标。利用三值法进行吊装环境建模,进行协作作业仿真,验证了动力学分析和改进蚁群算法的合理性,对于提高多机协作吊装作业效率和可靠性具有一定的指导意义。As the engineering tasks become more and more difficult, and the construction environment becomes more and more complex, a single crane can no longer undertake complex and heavy lifting tasks, however, the multi-crane cooperative lifting robot has strong load capacity, large lifting space, diverse lifting actions, which has been widely used in various engineering occasions. In this paper, the dynamic model of multi-crane cooperative lifting manipulator is established based on Lagrange equation. The traditional ant colony algorithm is optimized and improved for path planning of cooperative lifting, considering the probability of falling into local optimal and plenty of unsolvable ants. A three-valued planar grid environment modeling, pheromone step update strategy based on the best-sub-optimal path length and dynamic adjustment function of pheromone volatility factor have been proposed, the simulation results indicates the obvious optimization effect of the improved ant colony algorithm in terms of the best path length, algorithm running time and other performance evaluation indicators. The lifting environment is established with the three-valued planar grid environment modeling, the simulation results of cooperative lifting verifies the dynamics and improved ant colony algorithm,providing guidance value for improving the efficiency and safety of cooperative multi-crane lifting tasks.

关 键 词：多机协作吊装 多机器人 改进蚁群算法 动力学 柔索并联机构 

分 类 号：TG156[金属学及工艺—热处理]