Dynamic modeling and simulation of a floating multi-robot coordinated towing system

被引：0
作者：
Zhao, Zhigang [1 ]
Zhao, Xiangtang [1 ]
Su, Cheng [1 ]
Meng, Jiadong [1 ]
Wei, Qizhe [1 ]
机构：
[1] School of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2023年 / 44卷 / 10期
关键词：
cable-driven in parallel; dynamics model; hydrodynamics; kinematics model; multi-robot; offshore crane; simulation; towing system;
D O I：
10.11990/jheu.202106076
中图分类号：
学科分类号：
摘要：
At present, cranes used at sea are insufficient in terms of their carrying capacity and working space. Therefore, a floating multirobot coordinated towing system is proposed in this study to make up for the demand for offshore towing. First, we set up the spatial configuration of the system according to the towing task, after which we established the kinematics equations of the system using the D-H coordinate transformation method. Then, we built the dynamics model of the towing system and floating foundation based on the theories of rigid dynamics and hydrodynamics. Using the kinematics equation of the system, we analyzed the positive and inverse dynamics of the system, after which we performed the time-domain simulation of the system. The results indicate that the load will have a great impact on the floating foundation motion with the initial excitation of load motion and floating foundation motion and that the floating foundation motion will also consume the kinetic energy of the load. Both results can affect the safety of offshore towing operations. Therefore, the antiswing control of the load and the stability of the floating foundation must be studied after dynamics analysis. © 2023 Editorial Board of Journal of Harbin Engineering. All rights reserved.
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页码：1825 / 1831
页数：6
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