摘要
针对多机悬吊系统柔索张力特性复杂、张力连续性差、求解效率低等问题,提出了一种考虑平均负载力的张力可行解快速求解方法。首先分析系统的运动学与力学强耦合特性建立力平衡方程,基于安全性条件对张力可行域进行约束;其次引入平均负载力作为张力通解,由通解结合力平衡方程进一步实现特解代换;最后在不同被吊运物轨迹下,实现张力的快速求解并保证了求解的柔索张力的快速性和连续性,同时计算了满足张力可行解的工作空间,为多机悬吊系统的力位控制奠定了基础。
Aiming at the problems of complex tension characteristics,poor tension continuity and low solution effi⁃ciency of flexible cables in multi-robot suspension systems,a fast solution method for the feasible tension solution considering the average load force is proposed.Firstly,the kinematics and mechanics of the system are strongly cou⁃pled to establish the force balance equation,and the feasible domain of tension is constrained based on the safety con⁃ditions;Secondly,the average load force is introduced as the general solution of tension,and the general solution com⁃bined with the force balance equation further realizes the special solution substitution;Finally,under the trajectories of different suspended objects,the rapid solution of tension is realized,and the rapidity and continuity of the tension of the flexible cable is guaranteed,and at the same time the workspace which meets the requirements for the feasible so⁃lution of tension is computed.At the same time,the workspace of feasible solution of tension is calculated,which lays the foundation for the force position control of multi-robot suspension system.
作者
李冬娜
郭鑫
赵志刚
赵祥堂
LI Dong-na;GUO Xin;ZHAO Zhi-gang;ZHAO Xiang-tang(School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China)
出处
《计算机仿真》
2025年第7期181-187,共7页
Computer Simulation
基金
国家自然科学基金项目(51965032)
甘肃省自然科学基金重点项目(22JR5RA319)。
