2017, 38(6): 643-651.
doi: 10.21656/1000-0887.370147
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.