Analysis and Optimization on Inverse Kinematics for Multi-Robot Parallel Lifting Systems

ZHAO Zhi-gang; WANG Yan-lin; SU Cheng; LI Jin-song; JI Gang

doi:10.21656/1000-0887.370147

Volume 38 Issue 6

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Article Navigation > Applied Mathematics and Mechanics > 2017 > 38(6): 643-651

ZHAO Zhi-gang, WANG Yan-lin, SU Cheng, LI Jin-song, JI Gang. Analysis and Optimization on Inverse Kinematics for Multi-Robot Parallel Lifting Systems[J]. Applied Mathematics and Mechanics, 2017, 38(6): 643-651. doi: 10.21656/1000-0887.370147

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Analysis and Optimization on Inverse Kinematics for Multi-Robot Parallel Lifting Systems

doi: 10.21656/1000-0887.370147

¹School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, P.R.China;²School of Mechanical and Power Engineering, Shanghai Jiao Tong University, Shanghai 200030, P.R.China

Funds: The National Natural Science Foundation of China（51265021）

Received Date: 2016-05-13
Rev Recd Date: 2016-07-18
Publish Date: 2017-06-15

Abstract

Abstract

The inverse kinematics problem of close-coupling multi-robot parallel lifting systems was discussed. Firstly, the kinematic and dynamic models for the system were established by means of geometrical relations and wrench balance equations. Secondly, the inverse kinematics for the system, which was divided into two cases of fixed lengths and variable lengths of cables, was analyzed. Subsequently, the ways to solve the problems were given when the inverse kinematics had infinite solutions, multiple solutions or no solution at one moment, respectively. Then the optimization goal for finding the optimum solution was given in the case of multiple solutions. Finally, the numerical experiment platform for the parallel lifting system was established based on software UG/ADAMS/MATLAB, and the parameters of a real system were given for simulation. The simulation results show that, the proposed method effectively solves the multi-solution problem, and provides a foundation for further research on dynamical stability, cable tension optimization and control algorithm design for the system.
- close coupling,
- multi-robot system,
- parallel lifting system,
- inverse kinematics

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References(13)

References

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