上海交通大学学报

上海交通大学学报（自然版） ›› 2019, Vol. 53 ›› Issue (2): 225-231.doi: 10.16183/j.cnki.jsjtu.2019.02.014

• 学报（中文） • 上一篇    下一篇

欠约束多机协调吊运系统动力学工作空间分析

苏程，叶佳楠，李巍，丁旺才，赵志刚   

  1. 兰州交通大学 机电工程学院， 兰州 730070
  • 出版日期:2019-02-28 发布日期:2019-02-28
  • 作者简介:苏程(1977-)，男，甘肃省靖远县人，副教授，主要研究方向为机械动力学. E-mail:sucheng@mail.lzjtu.cn.
  • 基金资助:
    国家自然科学基金资助项目(51265021，11462011)

Analysis of Dynamic Workspace for Under-Constrained Coordinate Suspending System with Multi-Robots

SU Cheng,YE Jianan,LI Wei,DING Wangcai,ZHAO Zhigang   

  1. School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China
  • Online:2019-02-28 Published:2019-02-28

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摘要： 针对多台吊机通过绳索协调吊运同一被吊运物形成的欠约束系统不满足力封闭条件而无法用矢量封闭原理求出其动力学工作空间的问题，利用牛顿-欧拉方程建立了系统的动力学数学模型，并利用Farkas和Stiemke引理将动力学工作空间的求解转换成是否存在超平面的问题.对该类欠约束系统动力学方程进行拆分，得到了动力学工作空间的求解方法.最后利用蒙特·卡罗方法进行了数值仿真，得到该类系统的动力学工作空间.仿真结果表明，被吊运物的加速度对动力学工作空间的影响不大.

关键词: 多机器人系统, 欠约束, 绳牵引, 工作空间

Abstract: For the under-constrained system that multi-robots cooperatively tow a payload by cables, the dynamic workspace can’t be found out by the principle of vector closure. The dynamic equations of the system were established by using the Newton-Euler equation. Then the geometric meaning of Farkas and Stiemke lemma and relationship with the dynamic equations of the system were introduced, and the solving of dynamic workspace was converted to the problem that whether there exists a hyper plane. For the under-constrained system, the dynamic equations also need to be split to get the dynamic workspace. Finally, simulations were conducted to validate the feasibility of the proposed method by Monte Carlo method, it validates that the payload acceleration has little effect on the dynamic workspace by comparing the two groups of simulation.

Key words: system of multi-robots, under-constrained, cable-driven, workspace

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