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针对紧耦合多直升机协调吊运系统的逆运动学进行了分析,通过描述系统的结构模型,利用闭环矢量和牛顿-欧拉方程建立了系统的运动学模型和动力学模型;随后对系统的逆运动学进行了分析,将其分为定柔索长度和变柔索长度两种情况进行研究;最后在给定被吊运物运动期望位姿的情况下,对两种情况分别进行了数值计算,并通过ADAMS和MATLAB软件搭建了实验平台,进行了实例仿真分析。结果表明,建立的系统逆运动学模型是合理的,可以实时地求得各直升机的运动以及各柔索的受力情况。本文为优化拉力分布和研究系统控制算法奠定了基础。
The inverse kinematics of the coordinated lifting system for the tightly coupled multi-helicopter is analyzed. The kinematics model and dynamic model of the system are established by describing the structural model of the system and using closed-loop vector and Newton-Euler equations. Then, Kinematics are analyzed and divided into two parts: the length of the carabiner and the length of the carapace. Finally, given the expected posture and posture of the lifted object, the two cases are numerically calculated , And set up the experiment platform through ADAMS and MATLAB software, carried on the example simulation analysis. The results show that the established system inverse kinematics model is reasonable, and the helicopter movement and the force of each flexible cable can be obtained in real time. This paper lays the foundation for optimizing the distribution of tension and studying the system control algorithm.