Dynamic response simulation analysis of floating base multi-robot coordinated lifting system

WANG Zhirui, ZHAO Zhigang, SU Cheng, SHAN Ziwei

Journal of Vibration and Shock ›› 2021, Vol. 40 ›› Issue (23) : 232-238.

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PDF(1347 KB)
Journal of Vibration and Shock ›› 2021, Vol. 40 ›› Issue (23) : 232-238.

Dynamic response simulation analysis of floating base multi-robot coordinated lifting system

  • WANG Zhirui, ZHAO Zhigang, SU Cheng, SHAN Ziwei
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Abstract

Here, a new type of floating base multi-robot coordinated parallel lifting system was proposed, it was composed of 3 floating robots and a flexible cable parallel system. Taking this system as the study object, the kinematic model of the whole system was established using D-H transformation and homogeneous transformation matrix. According to the theory of fluid dynamics, the vertical dynamic equation of floating base was established. According to different lifting system configurations, dynamic models of the lifting system were established using Lagrange equation. Introducing the idea of numerical analysis, a new model was proposed to describe the bidirectional dynamic coupling caused by load motion and floating base motion. Combined with an actual example, vertical dynamic responses of the whole system under different coupling conditions were analyzed contrastively using the method of numerical simulation. It was shown that the conclusions obtained here can be used for further theoretical study and prototype development, and also for dynamic response study of lifting systems of crane ship.

Key words

multi-robot lifting / kinematic model / dynamic model / bidirectional coupling / dynamic response

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WANG Zhirui, ZHAO Zhigang, SU Cheng, SHAN Ziwei. Dynamic response simulation analysis of floating base multi-robot coordinated lifting system[J]. Journal of Vibration and Shock, 2021, 40(23): 232-238

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