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Analysis of workspace boundary for multi-robot coordinated lifting system with rolling base

Published online by Cambridge University Press:  26 September 2024

Xiangtang Zhao Open the ORCID record for Xiangtang Zhao [Opens in a new window] ,
Zhigang Zhao ,
Yagang Liu ,
Cheng Su  and
Jiadong Meng
Xiangtang Zhao
Affiliation:
Department of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou, China Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance, Civil Aviation Flight University of China, Guanghan, China
Zhigang Zhao*
Affiliation:
Department of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou, China Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance, Civil Aviation Flight University of China, Guanghan, China
Yagang Liu
Affiliation:
Department of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou, China
Cheng Su
Affiliation:
Department of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou, China
Jiadong Meng
Affiliation:
Department of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou, China Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance, Civil Aviation Flight University of China, Guanghan, China
*
Corresponding author: Zhigang Zhao; Email: [email protected]
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Abstract

An improved Monte-Carlo algorithm is proposed to address the problem of an unclear workspace boundary in a multi-robot coordinated lifting system. The spatial configuration of a multi-robot coordinated lifting system with rolling base is analyzed, and the kinematics and static workspace of the system are established. To solve the workspace boundary, first, the error introduced by the layers is reduced using an intra-layer thinning method. Second, each layer is divided simultaneously based on rows and columns, and the initial boundary points are extracted by searching for the best value. Third, random three-dimensional points are added in the neighborhood, and pseudo-boundary points are removed using three-dimensional local spherical coordinates to achieve a high-precision solution for the workspace boundary. Finally, the workspace volume is used to analyze the influence of structural parameters on the workspace boundary. The results show that the lifting system has limited carrying capacity and a data reference for selecting the structural parameters by analyzing the factors that affect the workspace. Findings provide a basis for further studies on the structural configuration and optimization of the lifting system.

Keywords

lifting systemworkspace boundarykinematicsstatic workspaceextraction of boundary pointsstructural parameters
Type
Research Article
Information
Robotica , Volume 42 , Issue 11 , November 2024 , pp. 3657 - 3674
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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