多机器人协调吊运系统动力学工作空间分析

摘要

针对多机器人通过柔索协同吊运同一重物的并联机器人系统,分析不同因素对系统动力学工作空间的影响.依据力旋量平衡方程建立了吊运系统的动力学模型,采用虚拟柔索法给出了该欠约束系统力旋量封闭的解决方案,并对系统的动力学工作空间和工作空间质量进行了分析.通过实例仿真计算得到了系统在不同工况下的动力学工作空间,并获得不同因素对系统动力学工作空间的影响规律,所得结果为进一步研究系统轨迹规划和运动稳定性提供了一定的基础.%The influence of different factors on the dynamical workspace was analyzed for the parallel robot system in which many robots collaboratively tow the same object by cables.First, the dynamic model on the towing system was established using force spinor balance equation.Second, a solution for closing the force spinor of the under-constrained system was given using the virtual cable method.Third, the dynamical workspace and quality of the dynamical workspace of towing system were analyzed.Finally, the dynamical workspaces of the towing system in different conditions were obtained through actual simulation calculation.The influence of different factors on the dynamical workspace of the towing system was also determined.Results of this study provide a basis for further research on the trajectory plan and dynamic stability of the system.