Design And Simulation Analysis Of Multiple Lifting Mobile Robots For Lifting And Mounting System

The multiple lifting mobile robots for lifting and mounting system is the research object in this paper and the multiple lifting mobile robots for lifting and mounting system(3T configuration)is designed.The mechanical structure,kinematics and dynamic of the system are studied.The anti-rollover control system based on semiactive suspension is proposed.The kinematics,dynamics and anti-rollover control system are simulated and analyzed.The main research work and results obtained in this paper are shown as follows:1.Three same lifting mobile robots are selected in this paper.Considering the planar three-degree-of-freedom(3T configuration)of the multiple lifting mobile robots for lifting and mounting,the mechanical structure is designed.2.The structural characteristics and working principle of the multiple lifting mobile robots system(3T configuration)are described in this paper.The inverse kinematics are solved and the forward kinematics are solved through iterative substitution method.The Lagrange equation are applied to establish the dynamic model of the system.3.The anti-rollover problem of the multiple lifting mobile robots for lifting and mounting system are discussed in this paper.The anti-rollover control system with the upper layer and lower layer structure is designed.The lower controller adopts the PID control algorithm to control the semi-active suspension.The roll angle is kept in the stable range.The upper controller adopts the fuzzy control algorithm to adjust the PID parameters of the lower controller.The safety and reliability in the lifting process are guaranteed.4.MATLAB and its embedded Simulink function are used to simulate the kinematics,dynamics and anti-rollover control of the lifting process in this paper.The effectiveness and correctness of control system are verified when the roll angle and the rollover indicator change because of the movement of the lifting object.