Analysis of Workspace and Dynamic Stability of Multi-robot Collaboratively Towing System

PDF(1281 KB)

Journal of Vibration and Shock ›› 2017, Vol. 36 ›› Issue (16) : 44-50.

WANG Yanlin1, ZHAO Zhigang1, SU Cheng1, LI Jinsong2, JI Gang2

Author information +

History +

Abstract

This paper major presents the workspace and dynamic stability of multi-robot collaboratively towing system. Firstly, the towing system was divided into three types of systems by drive configuration. Secondly, the generalized dynamic model of system was established by Newton-Euler equations. Next, the method to solve wrench enclosed of under-constrained system was given by using the method of virtual cables, and its workspace was analyzed, optimal result of the cables tension that satisfy the motion requirements of the system was given based on generalized inverse matrix theory. Subsequently, the criterion of dynamic stability was given by Krasovskii method. Finally, the system was parameterized by combination with practical example, numerical simulation and analysis of the workspaces of three types of systems were given. Stability calculations of all workspace’s spots were done by using method of square matrix eigenvalue decomposition. The results show that three types of systems were dynamic stability in themselves workspaces, and relationships for degree of stable of three kinds of system were obtained. The results have provided foundation for further research on optimization of motion trajectory planning and anti-sway control of towing system.

Key words

towing system / multi-robots system / generalized dynamic model / workspace / stability analysis

Cite this article

EndNote

Ris (Procite)

Bibtex

Download Citations

WANG Yanlin1, ZHAO Zhigang1, SU Cheng1, LI Jinsong2, JI Gang2. Analysis of Workspace and Dynamic Stability of Multi-robot Collaboratively Towing System[J]. Journal of Vibration and Shock, 2017, 36(16): 44-50

References

[1] Mahdi Agheli, Stephen S, Nestinger. Closed-Form Solution for Reachable Workspace of Axially Symmetric Hexapod Robots. Mechatronics and Embedded Systems and Applications (MESA), 2012,75-79.
[2] 赵志刚,吕恬生.多机器人协同吊运系统的协调动态载荷分配[J].机器人,2012,34(1):114-119.
ZHAO Zhigang, LU Tiansheng. Cooperative dynamic load distribution for Multi-robot coordinative towing system[J]. Robot, 2012, 34(1): 114-119.
[3] 王砚麟,赵志刚,石广田. 多机器人协调吊运系统控制优化仿真[J]. 计算机仿真，2015,32(10):404-408.
WANG Yanlin, ZHAO Zhigang, SHI Guangtian. Control optimal simulation of multi-robot cooperatively towing system[J]. Computer Simulation. 2015, 32(10):404-408. (in Chinese)
[4] 李巍,赵志刚,石广田,等.多机器人并联绳牵引系统的运动学及动力学解[J]. 浙江大学学报(工学版), 2015.49(10): 1916-1923。
LI Wei, ZHAO Zhigang, SHI Guangtian, et al. Solutions of kinematics and dynamics for parallel cable-driven system with multi-ronot[J]. Journal of Zhejiang University (Engineering Science), 2015.49(10): 1916-1923.
[5] MING A，HIGUCHI T. Study on multiple degree of freedom positioning mechanisms using wires ( Part 1) : Concept，design and control[J]. International Journal of the Japan Society for Precision Engineering, 1994, 28(2) : 131-138．
[6] Bin ZI, Sen Qian, Huafeng Ding, et al. Design and Analysis of Cooperative Cable Parallel Manipulators for Multiple Mobile Cranes[J]. International Journal of Advanced Robotic Systems 2012, 20: 56−61.
[7] Bin ZI, Huafeng Ding, Xia Wu, et al. Error modeling and sensitivity analysis of a hybrid-driven based cable parallel manipulator[J]. Precision Engineering. 2014,38(1),197– 211.
[8] Bin ZI, Zhencai Zhu , Jingli Du. Analysis and control of the cable-supporting system including actuator dynamics[J]. Control Engineering Practice. 2011, 491–501.
[9] Bin ZI, Jun Lin, Sen Qian. Localization, obstacle avoidance planning and control of a cooperative cable parallel robot for multiple mobile cranes[J]. Robotics and Computer-Integrated Manufacturing. 2015, 34(9): 105-123.
[10] 赵志刚,腾富军,石广田,等.紧耦合多机器人联合吊运系统逆运动学求解[J]. 哈尔滨工程大学学报，2016,37(2): 1-7.
ZHAO Zhigang, TENG Fujun, SHI Guangtian, et al. The inverse kinematics analysis of multi-robot combined lifting system[J]. Journal of Harbin Engineering University，2016,37(2):1-7.
[11] Xiaobo Zhou, Seung-kook Jun, Venkat Krovi. Tension distribution shaping via recongurable attachment in planar mobile cable robots[J]. Robotica, 2014, 32(10): 245-256.
[12] Trevisani Alberto. Planning of DynamiCally Feasible Trajectories for Translational, Planar, and Undercon- Strained Cable-Driven Robots[J]. Journal of Systems Science & Complexity, 2013, 26(10):695-717.
[13] 赵志刚,腾富军,石广田,等. 多机器人联合吊运系统可行域分析与求解[J].上海交通大学学报, 2015,49(8): 1174- 1180.
ZHAO Zhigang, TENG Fujun, SHI Guangtian, et al. Analysis and calculation on the feasible region of multi-robot combined lifting system[J]. Shanghai Jiaotong University, 2015,49(8): 1174- 1180.
[14] Nathan Michael, Jonathan Fink, Vijay Kumar. Cooperative Manipulation and Transportation with Aerial Robots [J]. Autonomous Robot, 2011, 30(1): 73-86.
[15] Bosscher P, Ebert I. A stability measure for underconstrained cable-driven robots[A]. In: Proceedings of 2004 IEEE International Conference on Robotics & Automation[C], New Orleans, LA, 2004.
[16] 赵志刚,吕恬生.多无人直升机吊运系统运动学与稳定性的仿真[J].系统仿真学报, 2013,25(4): 791-794.
ZHAO Zhigang, LU Tiansheng. Simulation on Kinematics and Stability of Multi-helicopters Hoist System[J]. Journal of System Simulation, 2013, 25(4): 791-794.
[17] 梁永红. 冗余绳牵引并联机器人工作空间求解方法及性能的研究[D], 西安电子科技大学, 西安, 2010.
Liang Yonghong. Research on solution method and performance of the workspace of redundant cable-driven parallel robots[D]. Xidian University, Xi’an, 2010.