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

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

¹兰州交通大学机电工程学院, 兰州 730070;²上海交通大学机械与动力工程学院, 上海 200030

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
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- 文章访问数: 837
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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

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

¹School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, P.R.China;²School of Mechanical and Power Engineering, Shanghai Jiao Tong University, Shanghai 200030, P.R.China

Funds: The National Natural Science Foundation of China（51265021）

摘要

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.
- 紧耦合 /
- 多机器人系统 /
- 协调吊运系统 /
- 逆运动学
Abstract: The inverse kinematics problem of close-coupling multi-robot parallel lifting systems was discussed. Firstly, the kinematic and dynamic models for the system were established by means of geometrical relations and wrench balance equations. Secondly, the inverse kinematics for the system, which was divided into two cases of fixed lengths and variable lengths of cables, was analyzed. Subsequently, the ways to solve the problems were given when the inverse kinematics had infinite solutions, multiple solutions or no solution at one moment, respectively. Then the optimization goal for finding the optimum solution was given in the case of multiple solutions. Finally, the numerical experiment platform for the parallel lifting system was established based on software UG/ADAMS/MATLAB, and the parameters of a real system were given for simulation. The simulation results show that, the proposed method effectively solves the multi-solution problem, and provides a foundation for further research on dynamical stability, cable tension optimization and control algorithm design for the system.
- close coupling /
- multi-robot system /
- parallel lifting system /
- inverse kinematics

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参考文献(13)

[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))
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[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.
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[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.
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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

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).

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

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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

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).

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

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出版历程

目录

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).