浮动基多机悬吊系统动力耦合响应分析  

Dynamic coupling response analysis of floating base multi-robot suspension system

作　　者：赵志刚[1] 王宝玺 苏程[1] 赵祥堂 郭鑫 闫继亮 ZHAO Zhigang;WANG Baoxi;SU Cheng;ZHAO Xiangtang;GUO Xin;YAN Jiliang(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》2024年第11期19-30,共12页Journal of Vibration and Shock

基　　金：甘肃省自然科学基金重点项目(22JR5RA319);国家自然科学基金项目(51965032);甘肃省科技计划资助项目(21YF5WA060);甘肃省优秀博士生项目(23JRRA842)。

摘　　要：为了研究浮动基多机悬吊系统在不规则波作用下的动力耦合关系,首先利用动量定理和动量矩定理建立了浮动基机器人动力学模型,其次利用达朗贝尔原理建立了悬吊系统的动力学模型,并提出了系统动力学的耦合关系分析步骤;最后结合实例,仿真分析了浮动基多机器人协调悬吊系统在不同波高、不同波长比和不同起吊速度下动力耦合响应过程。结果表明,该系统的理论研究进行了补充和完善,同时也为浮动基多机悬吊系统在实际的吊运过程中,判断安全的吊运环境提供技术支撑。Here,to study dynamic coupling relationship of a floating base multi-robot suspension system under irregular wave action,firstly,the dynamic model of a floating base robot was established using the momentum theorem and the momentum moment theorem.Secondly,the dynamic model of a suspension system was established using d’Alembert principle,and the system dynamic coupling relationship analysis procedure were proposed.Finally,combining with actual examples,dynamic coupling response processes of floating base multi-robot coordinated suspension system were simulated and analyzed under different wave heights,wavelength ratios and lifting speeds.It was shown that the obtained conclusions can supply and improve the theoretical study of this system,and also provide technical support for determining safe lifting environment of floating base multi-robot suspension system in actual lifting processes.

关 键 词：多机悬吊系统 动力学模型 耦合关系分析 动力耦合响应 

分 类 号：TH212[机械工程—机械制造及自动化] TH213.3