为提升无人艇回收作业的效率与安全性，以直臂伸缩起重机为基础，提出一种绳驱动减摆系统。考虑到起重机的变幅、伸缩和起升动作，基于矢量闭合原理建立了系统的运动学逆解模型。针对系统欠驱动特性导致回收笼位姿难以精确求解的问题，构建了基于Newton-Raphson迭代法的运动学正解算法。采用Matlab编程实现模型与算法，并在Adams中搭建虚拟样机。理论分析与样机仿真对比结果显示，绳索长度的平均误差为2.46×10-8 m，验证了逆解模型的正确性；多组数值分析表明回收笼平均位姿误差为1.07×10-3 m和0.0429°，验证了正解算法的有效性；虚拟样机仿真结果显示系统减摆效果可达70.58%，证实了方案的可行性。本文研究成果可为后续进行绳索同步控制与吊重位姿控制研究提供理论参考。
To enhance the efficiency and safety of unmanned surface vehicle recovery operations, a cable-driven anti-swing system based on a straight-arm telescopic crane is proposed. Considering the crane’s luffing, telescoping, and hoisting actions, an inverse kinematic model is developed using the vector closure principle. To address the difficulty in accurately determining the pose of the recovery cage due to the underactuated nature of the system, a forward kinematic algorithm based on the Newton-Raphson iterative method is proposed. The model and algorithm are implemented in Matlab, and a virtual prototype is constructed in Adams. Comparative analysis between theoretical calculations and prototype simulations confirms the correctness of the inverse kinematic model, with an average cable length error of 2.46×10-8 m. Numerical analyses further validate the effectiveness of the forward solution algorithm, yielding mean pose errors of 1.07×10-3 m and 0.0429° for the recovery cage. Virtual prototype simulations demonstrate that the proposed system achieves a sway reduction of up to 70.58%, thereby verifying its feasibility. The findings provide a theoretical foundation for subsequent studies on cable synchronization control and payload pose regulation.
2026,48(8): 122-127 收稿日期：2025-8-19
DOI：10.3404/j.issn.1672-7649.2026.08.019
分类号：U664.4+3
基金项目：国家自然科学基金资助项目（52471373）；辽宁省重点研发项目（2024JH2/102300001）；国家语委科研项目（WT145-70）
作者简介：李建(1999-),男,博士研究生,研究方向为绳驱动并联机构、波浪运动补偿、无人艇回收
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