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

被引：0
|
作者：
Zhao, Zhigang [1 ]
Wang, Baoxi [1 ]
Su, Cheng [1 ]
Zhao, Xiangtang [1 ]
Guo, Xin [1 ]
Yan, Jiliang [1 ]
机构：
[1] School of Mechatronic Engineering, Lanzhou Jiaotong University, Lanzhou,730070, China
来源：
Zhendong yu Chongji/Journal of Vibration and Shock | 2024年 / 43卷 / 11期
关键词：
Couplings - Digital elevation model - Industrial robots - Intelligent robots - Robot applications - Suspensions (components) - Vibration analysis;
D O I：
10.13465/j.cnki.jvs.2024.11.003
中图分类号：
学科分类号：
摘要：
Here, to study dynamic coupling relationship of a floating base multi-robot suspension system under irregular wave action, firstly, the dynamic model of a floating base robot was established using the momentum theorem and the momentum moment theorem. Secondly, the dynamic model of a suspension system was established using d' Alembert principle, and the system dynamic coupling relationship analysis procedure were proposed. Finally, combining with actual examples, dynamic coupling response processes of floating base multi-robot coordinated suspension system were simulated and analyzed under different wave heights, wavelength ratios and lifting speeds. It was shown that the obtained conclusions can supply and improve the theoretical study of this system, and also provide technical support for determining safe lifting environment of floating base multi-robot suspension system in actual lifting processes. © 2024 Chinese Vibration Engineering Society. All rights reserved.
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页码：19 / 30
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