Analysis Modeling And Working Space Of A Cable Tightly Coupled Multi Robot

With the progress of human civilization and progress of science and technology, more and more human must need the requirement of the robot, a single robot cannot meet the needs of human beings from the working space, power and efficiency. multi-robot cooperative operation has become a trend. Multi-robot lifting system application in harsh conditions,( the radiation environment, earthquake relief, air or sea rescue, etc.) has great practical value.With three industrial machine as an example: this paper proposed the cable type, multi-robot system model and the mathematical description system, analyze the uniqueness of the system. First to establish the mathematical model of lifting system of multi-robot, find the displacement constraints, the relationship of velocity and acceleration equation of the system, obtained the relationship of the robot joint Angle to the pose of lifting heavy objects, established the mathematical model of the robot, rope, lifting heavy objects. In UG Build model of robots, rope, lifting heavy objects, the entity UG three-dimensional model imported into ADAMS, in MATLAB to establish the mathematical model of lifting system of multi-robot, Through MATLAB control lifting system model: from the mathematical model of settlement of MATLAB output the robot control signal, the robot Angle control signal input to the lifting system of multi-robot model in ADAMS, the robot control lifting system will be move in the ADAMS, lifting weight position feedback system into MATLAB, complete the closed-loop control. In the upper machine lifting system of multi-robot simulation model is set up, to establish the mathematical model of lifting system of multi-robot, PC control signal input to the Motion controller, Motion controller transformation input signals to the drive, drive drive stepper motor to complete entity experiment platform motion, the object position sensor feedback to the upper machine to complete closed loop control circuit.Feasible region of lifting system of multi-robot research, the feasible region of system is the working space of system, have great significance for the the whole research of system, the three industrial robot Angle, the parameters of the robot, the length of rope, robot space layout, node coordinates of the weight and the rope has been set, feasible region of multiple robot of the lifting system can according to individual robot kinematics, first by monte carlo random take the robot Angle degree(within the scope of the robot Angle of desirable) get the robot end executor, coordinates to find the location of the lifting heavy objects coordinate: In mathematical modeling, the displacement constraints, the speed relationship and the dynamic equation, can be simultaneous displacement constraint equations(assuming that lifting weights three euler Angle is zero, lifting heavy objects in a stationary state, velocity and acceleration are zero) can solve location coordinates of lifting heavy objects. Force, according to the dynamics equation, solving the rope force in the lifting process, rope force must balance, balance. To determine position feasible region, based on monte- carlo thought, can repeat this process many times, retrieves the feasible region of position of the lifting heavy objects. Set the scope of the three industrial robot Angle in a given parameters, the length of rope robots, robot space layout, node coordinates of the weight and the rope,lifting heavy objects in space at some point, certain position in the workspace can get system specific posture work space. In three industrial robot Angle, the range of the parameters of the robot, the length of rope, robot space layout, node coordinates of the weight and the rope has been set, solving the posture of work space of the lifting system of multi-robot, can according to individual robot kinematics, first by monte carlo random take the robot Angle degree(within the scope of the robot joint Angle of desirable) get the robot end executor, the coordinates of the lifting system of multi-robot mathematical modeling, to establish the dynamics equation of displacement constraints, the speed relationship, solving lifting heavy weights posture work space, can be simultaneous equation of displacement constraints, the speed relationship(lifting heavy objects in a stationary state, velocity and acceleration are zero) can solve euler Angle of lifting heavy objects.Force, according to the dynamics equation, solving the rope force in the lifting process, rope force must balance, balance, to determine posture feasible region, based on monte- carlo thought, can repeat this process many times, posture feasible region by lifting heavy objects.Multi-robot inverse kinematics solution of the lifting system: inverse kinematics of system is to find relation of the robot Angle and lifting heavy objects, because the variables in lifting system of multi-robot is more, in order to remove system inverse kinematics coupling, can restrict the robot end actuators in a straight line,, the only solutions can be found,in order to get the mathematical analytic expressions of the inverse kinematics can be generally movement decomposition, become a six degrees of freedom of movement, by solving the mathematical expression of about six movement. Finally, you can in the virtual simulation experiment platform to verify the completeness and accuracy of the inverse kinematics. To carry out the cable type tightly coupled mathematical model of the multi-robot system and working space and so on research work, is the key to the further research problem of this kind of system planning control. Through the cable type tight coupling of multi-robot system in-depth study, from the basic and fundamental explore in the field of new concept, new method and new application, the results can also be used to guide the manipulation of personnel of the large equipment for such operation tasks.