紧耦合多机器人协调吊运系统建模和稳定性分析

摘要

基于紧耦合多机器人协调吊运系统的运动稳定性分析,提出了一种基于柔索拉力变化率及比值的方法来综合评价系统的运动稳定性.首先建立了耦合系统的运动学和动力学模型,接下来分析了紧耦合多机器人协调吊运系统的运动稳定性,当各条柔索拉力变化率很小,且比值均接近于1时,系统的运动稳定性较好.最后对一类吊运系统的运动学和运动稳定性进行了仿真,验证了方法的有效性.研究结果为柔索紧耦合多机器人协调吊运系统的有效工作空间分析和最优轨迹规划奠定了基础.%We analyze the dynamic stability of close-coupling multi-robots coordinatively towing systems,and based on the change rate of cables tension and the ratio of cable tension change rates,we propose a comprehensive evaluation method to judge the dynamic stability of towing systems.Firstly,we establish the kinematic model and dynamic model of the coupling towing system.Subsequently,we analyze the dynamic stability of the system,which is better when the change rate of all cables tension is smaller and the ratios among every change rate of cables tension are close to 1.Finally,the kinematics and the dynamic stability of one towing system are simulated,and the results verify the efficiency of the method.The results can prove the dynamic stability of the towing system,and lay a foundation for further analysis on the effective workspace and the optimal trajectory planning of the towing system.