Trajectory compensation for multi-robot coordinated lifting system considering elastic catenary of the rope

The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible coupling.The deformation of the flexible rope causes errors in the movement trajectory of the lifting system.Based on the kinematic and dynamic analysis of the lifting system,the elastic catenary mod-el considering the elasticity and mass of the flexible rope is established,and the effect of the deform-ation of the flexible rope on the position and posture of the suspended object is analyzed.According to the deformation of flexible rope,a real-time trajectory compensation method is proposed based on the compensation principle of position and posture.Under the lifting task of the low-speed move-ment,this is compared with that of the system which neglects the deformation of the flexible rope.The trajectoy of the lifting system considering the deformation of flexible rope.The results show that the mass and elasticity of the flexible rope can not be neglected.Meanwhile,the proposed trajectory compensation method can improve the movement accuracy of the lifting system,which verifies the ef-fectiveness of this compensation method.The research results provide the basis for trajectory plan-ning and coordinated control of the lifting system。

Elastic catenary cable element considering frictional slip effect

Conventional analysis methods of cable structures do not consider sliding of cables inside the joint,which may lead to inaccuracy of the theoretical behavior of the structure.In order to develop an effective method for cable sliding,a two-node cable element based on the analytical solution for an elastic catenary was studied.The cable sliding stiffness and the effect of friction were investigated.To validate the proposed numerical method,analyses of two examples given in the literature were conducted.The results demonstrated that the method given in this paper is accurate and effective,and can take into account cable sliding in cable structures.In addition,it was shown that the effect of cable sliding on the behavior of cable structures is significant.It was also shown that the friction at the support hampers the flow of the cable force,leading to unequal cable tensions on both sides of the support.

Deployment simulation of cable-strut structures considering cable sliding

The influence of cable sliding on the deployment of foldable cable-strut structures was studied in this paper. In order to develop an effective program for the cable sliding program, two-node cable element based on the analytical solution of elastic cate- nary was studied. Then the cable sliding stiffness was defined as the ratio of the variation of the cable force to the variation of the cable length. To validate the proposed numerical method, analyses of two examples given in references were carried out. The results show that the method given in this paper is accurate and effective, which can be used to model the cable sliding in cable structures. Finally, the deployment process of a foldable cable-strut structure, which is composed of four-bar linkages and cables, was discussed. It can be found that the effect of cable sliding on the behavior of cable-strut structures is significant. The length changes of active cables are smaller when the cable sliding is considered. Moreover, the nodal coordinate changes also become faster when the numerical model is with cable sliding.