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...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。展开更多
Long-line engineering sites usually have to pass through active tectonics, so the research of active tectonics is of great importance to seismic safety evaluation of this sort of site. In the paper, basing on the summ...Long-line engineering sites usually have to pass through active tectonics, so the research of active tectonics is of great importance to seismic safety evaluation of this sort of site. In the paper, basing on the summarization and analysis of the requirements for seismic safety evaluation of long-line engineering site and the status quo of active tectonics research, we propose the focal points of active tectonics research for seismic safety evaluation of long-line engineering sites, including the research contents, technical targets and routes, and the submission of the achievements, etc. Finally, we make a preliminary analysis and discussion about the problems existing in the present-day active tectonics research for seismic safety evaluation of long-line engineering sites.展开更多
基金the National Natural Science Foundation of China(No.51965032)the Natural Science Foundation of Gansu Province of China(No.22JR5RA319)+1 种基金the Science and Technology Foundation of Gansu Province of China(No.21YF5WA060)the Excellent Doctoral Student Foundation of Gansu Province of China(No.23JRRA842).
文摘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。
文摘Long-line engineering sites usually have to pass through active tectonics, so the research of active tectonics is of great importance to seismic safety evaluation of this sort of site. In the paper, basing on the summarization and analysis of the requirements for seismic safety evaluation of long-line engineering site and the status quo of active tectonics research, we propose the focal points of active tectonics research for seismic safety evaluation of long-line engineering sites, including the research contents, technical targets and routes, and the submission of the achievements, etc. Finally, we make a preliminary analysis and discussion about the problems existing in the present-day active tectonics research for seismic safety evaluation of long-line engineering sites.
