At present,the cranes used at sea have several shortcomings in terms of flexibility,efficiency,and safety.Therefore,a floating multi-robot coordinated lifting system is proposed to fulfill the offshore lifting require...At present,the cranes used at sea have several shortcomings in terms of flexibility,efficiency,and safety.Therefore,a floating multi-robot coordinated lifting system is proposed to fulfill the offshore lifting requirements.First,the structure of the lifting system is established according to the lifting task,the kinematic model of the system is developed by using the D–H coordinate transformation,and the dynamic model is developed based on rigid-body dynamics and hydrodynamics.Then,the static and dynamic workspace of the lifting system are analyzed,and the solving steps of the workspace are given by using the Monte–Carlo method.The effect of the load mass and the maximum allowable tension of the cable on the workspace is examined by simulation.Results show that the lifting system has limited carrying capacity and a data reference for selecting the structural parameters by analyzing the factors affecting the workspace.Findings provide a basis for further research on the optimal design of structural parameters and the determination of safe configurations of the lifting system.展开更多
Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the fle...Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the flexibility of rope-driven robots,the one-way pulling characteristics of the rope,and the floating characteristics of the base,towing robots are easily overturned.First,the spatial configuration of the towing system was established according to the towing task,and the kinematic model of the towing system was established using the coordinate transformation.Then,the dynamic model of the towing system was established according to the rigid-body dynamics and hydrodynamic theory.Finally,the stability of the towing system was analyzed using the stability cone method.The simulation experiments provide a reference for the practical application of the floating multirobot coordinated towing system,which can improve the stability of towing systems by changing the configuration of the towing robot.展开更多
基金Supported by the National Natural Science Foundation of China under Grant No.51965032the National Natural Science Foundation of Gansu Province of China under Grant No.22JR5RA319+1 种基金the Science and Technology Foundation of Gansu Province of China under Grant No.21YF5WA060the Excellent Doctoral Student Foundation of Gansu Province of China under Grant No.23JRRA842。
文摘At present,the cranes used at sea have several shortcomings in terms of flexibility,efficiency,and safety.Therefore,a floating multi-robot coordinated lifting system is proposed to fulfill the offshore lifting requirements.First,the structure of the lifting system is established according to the lifting task,the kinematic model of the system is developed by using the D–H coordinate transformation,and the dynamic model is developed based on rigid-body dynamics and hydrodynamics.Then,the static and dynamic workspace of the lifting system are analyzed,and the solving steps of the workspace are given by using the Monte–Carlo method.The effect of the load mass and the maximum allowable tension of the cable on the workspace is examined by simulation.Results show that the lifting system has limited carrying capacity and a data reference for selecting the structural parameters by analyzing the factors affecting the workspace.Findings provide a basis for further research on the optimal design of structural parameters and the determination of safe configurations of the lifting system.
基金Supported by the National Natural Science Foundation of China under Grant No.51965032the Natural Science Foundation of Gansu Province of China under Grant No.22JR5RA319+2 种基金the Excellent Doctoral Student Foundation of Gansu Province of China under Grant No.23JRRA842the Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance under Grant No.GAMRC2023YB05the Key Research and Development Project of Lanzhou Jiaotong University under Grant No.LZJTUZDYF2302.
文摘Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the flexibility of rope-driven robots,the one-way pulling characteristics of the rope,and the floating characteristics of the base,towing robots are easily overturned.First,the spatial configuration of the towing system was established according to the towing task,and the kinematic model of the towing system was established using the coordinate transformation.Then,the dynamic model of the towing system was established according to the rigid-body dynamics and hydrodynamic theory.Finally,the stability of the towing system was analyzed using the stability cone method.The simulation experiments provide a reference for the practical application of the floating multirobot coordinated towing system,which can improve the stability of towing systems by changing the configuration of the towing robot.
