为了研究浮动基多机悬吊系统在不规则波作用下的动力耦合关系，首先利用动量定理和动量矩定理建立了浮动基机器人动力学模型，其次利用达朗贝尔原理建立了悬吊系统的动力学模型，并提出了系统动力学的耦合关系分析步骤；最后结合实例，仿真分析了浮动基多机器人协调悬吊系统在不同波高、不同波长比和不同起吊速度下动力耦合响应过程。所得结论为该系统的理论研究进行了补充和完善，同时也为浮动基多机悬吊系统在实际的吊运过程中，判断安全的吊运环境提供技术支撑。
Abstract
In order to study the dynamic coupling relationship of the floating base multi-robot suspension system under the action of irregular waves, firstly, the dynamic model of the floating base robot is established by using the theorem of momentum and the theorem of moment of momentum. Secondly, the dynamic model of the suspension system is established by using the D 'Alembert principle, and the coupling relationship analysis steps of the system dynamics are proposed. Finally, combined with an example, the dynamic coupling response process of the floating-based multi-robot coordinated suspension system under different wave heights, different wavelength ratios and different lifting speeds is simulated and analyzed. The conclusions obtained complement and improve the theoretical research of the system, and also provide technical support for judging the safe lifting environment of the floating base multi-robot suspension system in the actual lifting process.
关键词
多机悬吊系统 /
动力学模型 /
耦合关系分析 /
动力耦合响应
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Key words
multi-machine suspension system /
dynamics model /
coupling relationship analysis /
dynamic coupling response
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参考文献
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