多机协调吊运系统在波浪作用下的动力响应  

DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES

作　　者：赵祥堂 赵志刚[1] 苏程[1] 卫启哲 郑晓燕 ZHAO XiangTang;ZHAO ZhiGang;SU Cheng;WEI QiZhe;ZHENG XiaoYan(School of Mechanical 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：《机械强度》2022年第3期635-640,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：介绍了一种用于海上吊运的柔索式多机器人协调并联系统。由于浮动基座受到的合力大小和方向不断变化,极易使吊机倾覆。首先将系统分为浮式机器人和吊物系统两部分,利用流体力学理论和球摆模型分析了两者的动力学特性。然后根据系统流固耦合的特点,分析得到了在波浪作用下求解该系统响应的具体步骤。最后结合实例,在波浪工况下对不同数量的吊机的动力响应进行了对比仿真,获得了浮基的位移、吊物的摆动以及柔索张力等结果,所得结论为该系统的优化和控制打好基础。This paper introduces a multi-robot coordinated parallel system for sea towing. Due to the force and direction of the floating-base are constantly changing, it is easy to overturn the crane. Firstly, the system is divided into two parts: floating robot and suspended system, and the dynamic model of the two are analyzed by using hydrodynamic theory and ball-pendulum model. Then according to the characteristics of fluid-solid coupling, the concrete steps of solving the system response to waves are analyzed. Finally, the displacement of floating-base, swing of suspended object and tension of rope are obtained by comparing and simulating the system under wave condition. The conclusion is a good basis for the optimization and control of the system.

关 键 词：吊运系统 流体力学 动力学建模 流固耦合 动力响应 

分 类 号：TH212[机械工程—机械制造及自动化] TH213.3