基于动态权值分配的登乘系统运动规划方法  

Motion planning method for boarding system based on dynamic weights distribution

作　　者：王玥玥 魏延辉 马天宇 韩云涛 WANG Yueyue;WEI Yanhui;MA Tianyu;HAN Yuntao(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China;Nanhai Innovation and Development Center,Harbin Engineering University,Sanya 572000,Hainan China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001 [2]三亚哈尔滨工程大学南海创新发展基地,海南三亚572000

出　　处：《华中科技大学学报（自然科学版）》2023年第8期102-108,共7页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：海南省自然科学基金面上项目(622MS163);海南省科技创新联合资助项目(2021CXLH0001);科技部重点研发计划资助项目(2020YFC1512200)。

摘　　要：针对冗余混联构型登乘系统各关节运动在海浪主动补偿过程中难以分配的问题,提出了一种基于动态权值分配的运动规划方法.首先,介绍了登乘系统的组成与结构尺寸;然后,对登乘系统进行构型拆解和分体化建模,分别对其内部构型中的6自由度并联机构和3自由度串联机构进行运动学分析,根据构型特点,以登乘系统末端姿态为优化目标,内部构型的可操作度和运动范围为约束条件,通过动态权值分配法进行运动规划;最后,采用动态权值分配法与两种常规方法分别对6自由度运动补偿轨迹进行数值仿真.通过仿真实验,验证了基于动态权值分配法在冗余混联构型登乘系统运动规划的有效性.The redundant hybrid boarding platform was difficult to effectively distribute the motion of each joint during the wave active compensation operation.A motion planning method was proposed based on dynamic weights distribution.Firstly,the system composition and structural dimensions of the boarding platform were introduced.Then,the boarding platform was disassembled and modeled,and the kinematics of the 6-DOF parallel mechanism and the 3-DOF series mechanism in the internal configuration were analyzed respectively.According to the characteristics of the configuration,motion planning was carried out by the dynamic weights distribution method,with the end attitude of the boarding platform as the optimization target and the manipulability and motion range of the internal configuration as the constraint.Finally,the dynamic weights distribution method and two conventional methods were used to numerically simulate a section of the 6-DOF motion compensation trajectory individually.The simulation results show the effectiveness of the distribution method based on the dynamic weights in the joint motion planning for the redundant hybrid boarding platform.

关 键 词：冗余混联构型 登乘系统 主动补偿 动态权值分配 运动规划 

分 类 号：U664[交通运输工程—船舶及航道工程]