面向吊装路径规划的履带起重机运动学建模方法

Kinematic modeling method of crawler crane for hoisting path planning

履带起重机建模是履带起重机路径规划的前提和基础,但是有关于履带起重机建模的研究尚不够系统,为此,以利勃海尔LR1400-2履带起重机为例,提出了一种面向吊装路径规划的履带起重机运动学建模方法,并对履带起重机运动学建模进行了理论推导、仿真分析和试验测试。首先,采用虚拟连杆和被动关节对刚柔混合的起升系统进行了建模,在此基础上确定了履带起重机的位形空间;然后,构建了履带起重机的正向运动学模型和逆向运动学模型,并给出了其相应的求解方法;最后,将构建出来的正向运动学模型和逆向运动学模型应用到履带起重机的吊装路径规划中,通过对3个不同的吊装路径进行规划,以此来验证该履带起重机运动学建模方法的有效性。研究结果表明:该履带起重机的正向运动学模型可准确地确定履带起重机各部件在位形空间上的位姿和姿态,为其碰撞检测提供了保障;该逆向运动学模型可为起重机的起吊位形和就位位形提供一种快速的求解方法。

Crawler crane modeling was the premise and foundation of crawler crane path planning,but the research on crawler crane modeling is not systematic enough.Taking the LR1400-2 crawler of Liebherr as an example,a kinematic modeling method of crawler crane for hoisting path planning was proposed,and the kinematic modeling of crawler crane was theoretically derived,simulated and tested.Firstly,the virtual connecting rod and passive joints were used to model the rigid-flexible hybrid hoisting system,and on this basis,the configuration space of the crawler crane was determined.Then,the forward kinematics model and inverse kinematics model of the crawler crane were constructed,and the corresponding solution methods were given.Finally,the constructed forward kinematics model and inverse kinematics model were applied to hoisting path planning.The validity of the kinematic modeling method of the crawler crane was verified by planning three different hoisting paths.The results show that the forward kinematics model of the crawler crane can accurately determine the position and attitude of each component of the crawler crane in the configuration space,which provides a guarantee for its collision detection.The inverse kinematics model can provide a fast solution method for lifting configuration and positioning configurations.