紧耦合多机器人协调吊运系统建模和稳定性分析

王砚麟1，赵志刚1，石广田1，李劲松2

收稿日期:2016-03-02 修回日期:2016-04-18 出版日期:2017-10-25 发布日期:2017-10-25
基金资助:
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）

WANG Yan-lin1,ZHAO Zhi-gang1,SHI Guang-tian1,LI Jin-song2

（1.School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070;

2.School of Mechanical and Power Engineering,Shanghai Jiaotong University,Shanghai 200030,China）

Received:2016-03-02 Revised:2016-04-18 Online:2017-10-25 Published:2017-10-25

摘要：

基于紧耦合多机器人协调吊运系统的运动稳定性分析，提出了一种基于柔索拉力变化率及比值的方法来综合评价系统的运动

稳定性。首先建立了耦合系统的运动学和动力学模型，接下来分析了紧耦合多机器人协调吊运系统的运动稳定性，当各条柔

索拉力变化率很小，且比值均接近于1时，系统的运动稳定性较好。最后对一类吊运系统的运动学和运动稳定性进行了仿真，

验证了方法的有效性。研究结果为柔索紧耦合多机器人协调吊运系统的有效工作空间分析和最优轨迹规划奠定了基础。

关键词: 紧耦合, 吊运系统, 多机器人系统, 稳定性分析

Abstract:

We analyze the dynamic stability of close-coupling multi-robots coordinatively towing sys-tems, and based on

the change rate of cables tension and the ratio of cable tension change rates, we pro-pose a comprehensive

evaluation method to judge the dynamic stability of towing systems. Firstly, we establish the kinematic model

and dynamic model of the coupling towing system. Subsequently, we ana-lyze the dynamic stability of the

system, which is better when the change rate of all cables tension is smaller and the ratios among every

change rate of cables tension are close to 1. Finally, the kinematics and the dynamic stability of one towing

system are simulated, and the results verify the efficiency of the method. The results can prove the dynamic

stability of the towing system, and lay a foundation for fur-ther analysis on the effective workspace and the

optimal trajectory planning of the towing system.

Key words: close-coupling, towing system, multi-robot system, stability analysis

王砚麟1，赵志刚1，石广田1，李劲松2. 紧耦合多机器人协调吊运系统建模和稳定性分析[J]. 计算机工程与科学.

WANG Yan-lin1,ZHAO Zhi-gang1,SHI Guang-tian1,LI Jin-song2.

Modeling and stability analysis of close-coupling

multi-robot collaboratively towing system

[J]. Computer Engineering & Science.

[1]	姚芝凤1,2，叶秀芬2，戴学丰1，朱玲1，孙明1. 一种基于效益的多机器人避碰协调策略[J]. J4, 2014, 36(07): 1324-1329.
[2]	胡扬，年晓红. 代谢计算在分子稳定性分析中的应用[J]. J4, 2011, 33(11): 71-74.

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