基于安全性的多机协调吊运系统张力优化算法
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摘要
为实现多机协调吊运系统张力分布始终满足安全性评定的结果,在欠约束情况下,首先分析机构模型,并采用牛顿-欧拉方程建立动力学模型,利用动平衡的条件,求解系统拉力解集,并引入变张力均值,通过以实际拉力与变张力均值之差的4范数的最小值作为优化目标,得到实际工作拉力总趋近于安全拉力均值的结果。最后,以3柔索6自由度柔索并联机器人为例,在给定轨迹下进行动态仿真,观察结果并分析柔索张力的分布情况,从而验证该算法的正确性。
In order to achieve the results that the tension distribution of the multi-robot coordinated towing system always satisfies the safety assessment, in the case of under-constraint, we first analyze the organization model, and the Newton-Euler equation is used to establish the dynamic model. By using the condition of dynamic equilibrium to solve the solution and introduced to the mean value of allowable tension. And then the minimum value of the 4 norm of the difference between the actual tension and the allowable tension is taken as the optimization target, so that the actual working tension is always close to the mean value of the safety tension. Finally, the dynamic simulation of the robot under the given trajectory is realized, and the distribution of the tension of the cable is analyzed, the correctness of the method is verified by the 3-DOF 6-DOF cable parallel robot.
In order to achieve the results that the tension distribution of the multi-robot coordinated towing system always satisfies the safety assessment, in the case of under-constraint, we first analyze the organization model, and the Newton-Euler equation is used to establish the dynamic model. By using the condition of dynamic equilibrium to solve the solution and introduced to the mean value of allowable tension. And then the minimum value of the 4 norm of the difference between the actual tension and the allowable tension is taken as the optimization target, so that the actual working tension is always close to the mean value of the safety tension. Finally, the dynamic simulation of the robot under the given trajectory is realized, and the distribution of the tension of the cable is analyzed, the correctness of the method is verified by the 3-DOF 6-DOF cable parallel robot.
引文
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[2] 赵志刚,吕恬生. 多机器人协同吊运系统的协调动态载荷分配[J]. 机器人, 2012-1:114-119.
[3] A Ming, T Higuchi. Study on multiple degree of freedom positioning mechanisms using wires (Part 1): concept, design and control[J]. International Journal of the Japan Society for Precision Engineering. 1994.
[4] Johann Lamaury, Marc Gouttefarde. A Tension Distribution Method with Improved Computational Effiency[J]. Mechanisms and Machine Science, 2013,12(5):71-85.
[5] 张卓,梁艳阳,刘宏伟,王效杰. 典型空间轨迹的张力优化算法研究[J]. 机械设计与制造, 2016,(4):35-38,43.
[6] Wei-Jung Shiang, D Cannon and J Gorman, Optimal force distribution applied to a robotic crane with flexible cables[C]. Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation .Symposia Proceedings(Cat.No.00CH37065), San Francisco, CA, 2000:1948-1954.
[7] 郑亚青,刘雄伟. 绳牵引并联机构拉力分布优化[J]. 机械工程学报, 2005,(9): 140-145.
[8] M Gouttefarde, C Gosselin. Analysis of the wrench-closure workspace of planar parallel cable-driven mechanisms[J]. IEEE Trans. Robot., Jun. 2006,22(3):434-445.
[9] 苏宇. 绳牵引并联机器人的力学分析与性能优化[D]. 西安电子科技大学, 2014.
[10] 訾斌,朱真才,曹建斌. 混合驱动柔索并联机器人的设计与分析[J]. 机械工程学报, 2011,(17):1-8.
[11] 訾斌,段宝岩,杜敬利. 柔索驱动并联机器人动力学建模与数值仿真[J]. 机械工程学报, 2007,(11):82-88.
[12] 黄佳怡. 柔索驱动并联机器人的理论及其应用研究[D]. 南京航空航天大学, 2010.
[13] P.Bosscher,A. Riechel, I.Ebert-Uphoff, Wrench-feasible workspace generation for cable-driven robots[J]. IEEE Trans. Robot., Oct. 2006, 22(5):890-902.