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多机器人协调吊运系统逆运动学分析及优化

赵志刚 王砚麟 苏程 李劲松 季钢

赵志刚, 王砚麟, 苏程, 李劲松, 季钢. 多机器人协调吊运系统逆运动学分析及优化[J]. 应用数学和力学, 2017, 38(6): 643-651. doi: 10.21656/1000-0887.370147
引用本文: 赵志刚, 王砚麟, 苏程, 李劲松, 季钢. 多机器人协调吊运系统逆运动学分析及优化[J]. 应用数学和力学, 2017, 38(6): 643-651. doi: 10.21656/1000-0887.370147
ZHAO Zhi-gang, WANG Yan-lin, SU Cheng, LI Jin-song, JI Gang. Analysis and Optimization on Inverse Kinematics for Multi-Robot Parallel Lifting Systems[J]. Applied Mathematics and Mechanics, 2017, 38(6): 643-651. doi: 10.21656/1000-0887.370147
Citation: ZHAO Zhi-gang, WANG Yan-lin, SU Cheng, LI Jin-song, JI Gang. Analysis and Optimization on Inverse Kinematics for Multi-Robot Parallel Lifting Systems[J]. Applied Mathematics and Mechanics, 2017, 38(6): 643-651. doi: 10.21656/1000-0887.370147

多机器人协调吊运系统逆运动学分析及优化

doi: 10.21656/1000-0887.370147
基金项目: 国家自然科学基金(51265021);高等学校博士学科点专项科研基金新教师类资助课题(20126204120004);教育部科学技术研究重点项目(212184);甘肃省自然科学基金(1212RJZA067)
详细信息
    作者简介:

    赵志刚(1975—),男,教授,博士,硕士生导师;王砚麟(1992—),男,硕士生(通讯作者. E-mail: wangyanlin0513@21cn.com).

  • 中图分类号: TP391

Analysis and Optimization on Inverse Kinematics for Multi-Robot Parallel Lifting Systems

Funds: The National Natural Science Foundation of China(51265021)
  • 摘要: 针对紧耦合多机器人协调吊运系统的逆运动学问题进行了分析,首先利用几何关系和力旋量平衡方程建立了系统的运动学模型和动力学模型;然后对系统的逆运动学进行分析,将其分为变柔索长度和固定柔索长度两种情况分别进行分析;随后对运动学逆解在某一时刻存在无穷多解、多组解和无解的情况分别给出了解决方法,对存在多组解的情况,提出一优化目标求解最优解;最后结合软件UG/ADAMS/MATLAB建立了系统的实验平台,通过实例仿真计算验证了方法的有效性,为后续进一步研究系统运动稳定性、优化拉力分布和控制算法奠定了基础.
  • [1] 王砚麟, 赵志刚, 石广田. 多机器人协调吊运系统控制优化仿真[J]. 计算机仿真, 2015,32(10): 404-408.(WANG Yan-lin, ZHAO Zhi-gang, SHI Guang-tian. Analysis of kinematics and control simulation for multi-robot collaboratively towing system[J]. Computer Simulation,2015,32(10): 404-408.(in Chinese))
    [2] 赵泽, 仇原鹰. 大射电望远镜AB轴机构指点运动与误差分析[J]. 机械科学与技术, 2016,35(4): 584-588.(ZHAO Ze, QIU Yuan-ying. Motion and pointing error of AB-axis mechanism for large radio telescope[J]. Mechanical Science and Technology for Aerospace Engineering,2016,35(4): 584-588.(in Chinese))
    [3] Michael N, Fink J, Kumar V. Cooperative manipulation and transportation with aerial robots[J]. Autonomous Robot,2011,30(1): 73-86.
    [4] Barnett E, Gosselin C. Large-scale 3D printing with a cable-suspended robot[J]. Additive Manufacturing,2015,7: 27-44.
    [5] Maza I, Kondak K, Bernard M, et al. Multi-UAV cooperation and control for load transportation and deployment[J]. Journal of Intelligent and Robotic Systems,2010,57(1): 417-449.
    [6] Bosscher P, Ebert I. A stability measure for underconstrained cable-driven robots[C]//Proceedings of 2004 IEEE International Conference on Robotics & Automation.New Orleans, LA, 2004.
    [7] ZHENG Ya-qing, LIN Qi, WU Jian-po, et al. Analysis of inverse kinematics and dynamics of a novel 6-degree-of-freedom wire-driven parallel gantry crane robot[C]// IEEE/ASME International Conference on Advanced Intelligent Mechatronics.Singapore: Suntec Convention and Exhibition Center, 2009: 1786-1792.
    [8] YU Lan, ZHENG Ya-qing. Configuration design and analysis of generalized inverse pose kinematic problem of 6-DOF wire-driven gantry crane robots[C]// International Conference on Automatic Control and Artificial Intelligence.Xiamen, 2012: 676-680.
    [9] ZI Bin, QIAN Sen, DING Hua-feng, et al. Design and analysis of cooperative cable parallel manipulators for multiple mobile cranes[J]. International Journal of Advanced Robotic Systems,2012,9(5): 207. doi: 10.5772/53670.
    [10] QIAN Sen, ZI Bin, ZHANG Dan, et al. Kinematics and error analysis of cooperative cable parallel manipulators for multiple mobile cranes[J]. International Journal of Mechanics and Materials in Design,2014,10(4): 395-409.
    [11] 赵志刚, 腾富军, 石广田, 等. 多机器人联合吊运系统可行域分析与求解[J]. 上海交通大学学报, 2015,49(8): 1174-1180.(ZHAO Zhi-gang, TENG Fu-jun, SHI Guang-tian, et al. Analysis and calculation of feasible region of multi-robot combined lifting system[J]. Joural of Shanghai Jiaotong University,2015,49(8): 1174-1180.(in Chinese))
    [12] 赵志刚, 腾富军, 石广田, 等. 紧耦合多机器人联合吊运系统逆运动学求解[J]. 哈尔滨工程大学学报, 2016,37(2): 254-260.(ZHAO Zhi-gang, TENG Fu-jun, SHI Guang-tian, et al. The inverse kinematics analysis of multi-robot combined lifting system[J]. Journal of Harbin Engineering University,2016,37(2): 254-260.(in Chinese))
    [13] LI Wei, ZHAO Zhi-gang, SHI Guang-tian, et al. Inverse dynamics analysis and simulation of a class of under-constrained cable-driven parallel system[J]. UPB Scientific Bulletin, Series D: Mechanical Engineering,2016,78(1): 87-98.
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出版历程
  • 收稿日期:  2016-05-13
  • 修回日期:  2016-07-18
  • 刊出日期:  2017-06-15

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