Dynamic coupling response analysis of floating base multi-robot suspension system

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Journal of Vibration and Shock ›› 2024, Vol. 43 ›› Issue (11) : 19-30.

ZHAO Zhigang, WANG Baoxi, SU Cheng, ZHAO Xiangtang, GUO Xin, YAN Jiliang

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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.

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multi-machine suspension system / dynamics model / coupling relationship analysis / dynamic coupling response

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ZHAO Zhigang, WANG Baoxi, SU Cheng, ZHAO Xiangtang, GUO Xin, YAN Jiliang. Dynamic coupling response analysis of floating base multi-robot suspension system[J]. Journal of Vibration and Shock, 2024, 43(11): 19-30

References

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