Modeling and stability analysis of close-coupling
multi-robot collaboratively towing system

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

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

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.

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[2]	HU Yang,NIAN Xiaohong. Application of Metabolic Computing in Molecule Stability Analysis [J]. J4, 2011, 33(11): 71-74.

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