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浙江大学学报(工学版)
JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE)
    
Solutions of kinematics and dynamics for parallel cable driven system with multi robots
LI Wei, ZHAO Zhi gang, SHI Guang tian, MENG Jia dong
School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China
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Abstract  
The general situation of connection point that has three translational degrees of freedom with free movement between each robot and the cable was considered for the parallel system of multi robots cooperatively towing a payload by cables. The generalized kinematic equations of the system were established, and the dynamic equations of the system were established by respectively using the Newton Euler equation and Lagrange equation. The system was divided into three types of issues according to relation among robots, cables and payload. The situations of solution to all kinds of issues were respectively analyzed from the view whether equations have solutions. Then the processing method was discussed in each case from the view of practical application. When there were no solution or infinite solutions, some solving methods were proposed. When there were solutions, the method of removing the solutions that don’t meet the design requirements was proposed. If there were multiple groups of solutions, a method of searching for optimal solution was proposed. The kinematic and dynamic model were verified by simulation examples, and the processing method of the solutions was illustrated.

Published: 29 October 2015
CLC:  TP 242  
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LI Wei, ZHAO Zhi gang, SHI Guang tian, MENG Jia dong. Solutions of kinematics and dynamics for parallel cable driven system with multi robots. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2015, 49(10): 1916-1923.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008 973X.2015.10.013     OR     http://www.zjujournals.com/eng/Y2015/V49/I10/1916


多机器人并联绳牵引系统的运动学及动力学解

对于多台机器人通过绳索协同牵引负载的并联系统,考虑了每个机器人与绳索的连接点具有任意移动的3个平动自由度的一般性情况.对该系统建立广义性的运动学方程,分别利用牛顿 欧拉方程和拉格朗日方程建立系统的动力学方程.根据机器人、绳索、负载三者之间的关系,分成三大类问题,从方程是否有解的角度,分别对各类问题下解的情况进行分析.从实际应用的角度,讨论各种情况下解的处理方法.对于无解或无穷解时,提出解决方法.对于有解时,提出舍去不符合设计要求的解的方法.若存在多组解,则提出一个寻找最优解的方法.通过举例仿真验证系统的运动学和动力学模型并说明解的处理方法.
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