浮动式多机器人协调吊运系统负载稳定性分析

doi:10.1007/s12204-023-2634-7

摘要/Abstract

摘要： 目前海上使用的起重机在灵活性、效率和安全性上存在不足，因此提出一种浮动式多机协调吊运系统来弥补海上吊运的需求。针对浮动式多机协调吊运系统很难用传统的方法分析稳定性，本文首先分别以吊运系统柔索的最小拉力与刚度矩阵的最小奇异值对负载的稳定性进行了分析，并且探讨了两种稳定性分析方法的优缺点。然后对两种稳定性分析方法进行数据归一化和加权处理，得出了最小拉力值与刚度最小奇异值的方法，综合分析了负载的稳定性。最后以三组不同的加权系数，分析了加权系数对负载稳定性的影响，并通过与单一分析方法做对比，最终得到了合理的评价负载稳定性的加权系数。研究结果为该吊运系统的运动规划和协调控制提供了基础。

关键词: 海上吊运, 多机器人系统, 负载稳定性, 最小拉力值, 最小奇异值

Abstract: Cranes used at sea have some shortcomings in terms of flexibility, efficiency, and safety. Therefore, a floating multi-robot coordinated towing system is planned to fulfill the offshore towing requirements. It is difficult to study the stability of a floating multi-robot coordinated towing system by ancient strategies. First, the minimum tension of the rope and the minimum singular value of the stiffness matrix were separately used to analyze the load stability. The advantages and disadvantages of the two methods were discussed. Then, the two stability analysis methods were normalized and weighted to obtain the method based on minimum tension and minimum singular to comprehensively analyze the stability of the load. Finally, the effect of different weighting coefficients on the load stability was analyzed, which led to a reasonable weighting coefficient to evaluate the load stability by comparing with a single analysis method. The research results provide a basis for the motion planning and coordinated control of the towing system.

中图分类号:

TH113
TP242

. 浮动式多机器人协调吊运系统负载稳定性分析[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(6): 1162-1170.

SU Cheng, ZHAO Xiangtang, YAN Zengzhen, ZHAO Zhigang, MENG Jiadong. Load Stability Analysis of a Floating Multi-Robot Coordinated Towing System[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(6): 1162-1170.

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