绳牵引门式起重机器人动力学建模与分析
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大连海事大学

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TH215;TP273

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国家自然科学(52101396);中央高校基本科研业务费专项资金资助(3132022207).


Dynamic Modeling and Analysis of Wire-Driven Gantry-type Crane Robot
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Dalian Maritime University

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    摘要:

    由于传统的造船门式起重机难以控制吊具姿态,因此涉及空中翻身等复杂动作的精准组装作业成为难点。为提高船舶建造效率、减少建造周期,将绳牵引并联机器人应用至门式起重机吊装领域,并开发了一种新型绳牵引起重机器人。首先,通过矢量封闭理论对绳牵引起重机器人的运动学位置逆解进行分析,拟定吊具的运动轨迹,分析绳长的变化情况。其次,基于牛顿-欧拉法建立了绳牵引起重机器人的动力学模型,并采用绳索张力分布算法对绳索张力进行了优化。再次,通过MATLAB和ADAMS进行联合仿真。仿真结果表明优化后的绳索张力光滑连续变化;在系统为开环的情况下,环形轨迹下绳长变化最大误差均值为46mm;螺旋线轨迹下绳长变化最大误差均值为27mm;往复运动轨迹误差比例均值为0.55%。最后,搭建了实验样机,实验条件下绳索张力误差比例在22%以内,验证了建立的动力学模型的准确性,为控制策略设计及样机开发提供了理论基础。

    Abstract:

    Due to the difficulty in controlling the lifting tool's posture in traditional shipbuilding gantry cranes, precise assembly operations involving complex maneuvers such as aerial flipping have become challenging. To enhance shipbuilding efficiency and reduce the construction cycle, the concept of wire-driven parallel robots has been introduced into the gantry crane lifting field, leading to the development of a novel wire-driven lifting robot. Initially, the kinematic position inverse solution of the wire-driven lifting robot was analyzed using vector closure theory, which facilitated the planning of the lifting tool's trajectory and the analysis of wire length variations. Subsequently, a dynamics model for the robot was established based on the Newton-Euler method, and a wire tension distribution algorithm was employed to optimize the tensions within the wires. Joint simulations were then conducted using MATLAB and ADAMS. The simulation results demonstrated that the optimized wire tensions exhibited smooth and continuous variations. Under open-loop conditions, the maximum mean error in wire length variation was 46mm for circular trajectories, 27mm for spiral trajectories, and the mean error ratio for reciprocating trajectories was 0.55%. Finally, an experimental prototype was constructed, and the wire tension error ratio under experimental conditions remained within 15%, validating the accuracy of the established dynamics model. This validation provides a theoretical basis for the design of control strategies and the development of future prototypes.

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引用本文

赵世龙,王生海,李建,等. 绳牵引门式起重机器人动力学建模与分析[J]. 科学技术与工程, , ():

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  • 收稿日期:2023-09-27
  • 最后修改日期:2024-05-16
  • 录用日期:2024-05-21
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