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基于实际吊装工况中被吊物自重和体积越来越大,需多台起重机协同吊装的现状,以具备转弯能力的多机系统的建模和动作规划算法为研究对象,以4台起重机为例,对起重机系统进行主臂工况结构的简化建模。以系统内两两起重机的封闭链特性为原则,规定多机系统的C-空间,定义转弯驱动变量,建立系统状态转移方程,并对RRTConne ct++算法的采样和拓展区域的选取进行改进,使得拓展点到目标点的拓展在更加有效的区域中进行,提高规划效率。通过两个案例验证了模型及改进的规划算法对于双机和多机的转弯情况的适用性。
Based on the fact that the hoisting objects are heavier and heavier in actual hoisting conditions, the current situation that multiple hoisting cranes need to be hoisted together is taken as the research object. The modeling and motion planning algorithm of the multi-hoisting system with turning ability are taken as research objects. Four cranes Example, a simplified modeling of the boom structure of a crane system. Based on the closed-chain characteristics of two or two cranes in the system, the C-space of multi-machine system is defined, the turning drive variables are defined, the system state transfer equation is established, and the sampling and expansion of RRTConne ct ++ algorithm are improved, Point to point expansion of the target in a more effective area to improve planning efficiency. Two cases are used to verify the applicability of the model and the improved planning algorithm to the turning situation of double and multiple aircraft.