Shipbuilding crane manipulator with closed-chain structure: structural design and kinematic performance analysis
Traditional shipbuilding crane manipulator is widely used in the process of block lifting and erection of ships, but there are generally problems, such as inflexible output trajectory, limited workspace and low working efficiency. In order to solve above problems, a novel hybrid shipbuilding crane m...
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| Format: | Article |
| Language: | English |
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EDP Sciences
2024-01-01
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| Series: | Mechanics & Industry |
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| Online Access: | https://www.mechanics-industry.org/articles/meca/full_html/2024/01/mi230011/mi230011.html |
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| author | Pan Yuchen Yue Minghang Deng Zhining Meng Zhanbin Li Yufu |
| author_facet | Pan Yuchen Yue Minghang Deng Zhining Meng Zhanbin Li Yufu |
| author_sort | Pan Yuchen |
| collection | DOAJ |
| description | Traditional shipbuilding crane manipulator is widely used in the process of block lifting and erection of ships, but there are generally problems, such as inflexible output trajectory, limited workspace and low working efficiency. In order to solve above problems, a novel hybrid shipbuilding crane manipulator with closed-chain structure and weakly-coupled characteristics based on multi-DOF (Degree-of-Freedom) mechanism is proposed. Then, a systematically structural and kinematic modeling and analysis method is presented to describe the coupling degree, singular configurations, workspace, motion trajectory, dexterity capacity and static stiffness performances of this type of closed-chain structure mechanism. Results of the numerical examples verify the correctness, accuracy and efficiency of the proposed method. Meanwhile, compared with the traditional shipbuilding crane manipulator, the proposed novel manipulator can finish lifting and transportation operation more efficient, which can also be applied in fields such as: innovative design of oil and gas drilling platforms, deck machinery, construction machinery and other engineering equipment. |
| format | Article |
| id | doaj-art-bbf0e66a35ce44a98a2b0f63b30f5a92 |
| institution | Kabale University |
| issn | 2257-7777 2257-7750 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | Mechanics & Industry |
| spelling | doaj-art-bbf0e66a35ce44a98a2b0f63b30f5a922025-01-08T11:13:02ZengEDP SciencesMechanics & Industry2257-77772257-77502024-01-01253510.1051/meca/2024029mi230011Shipbuilding crane manipulator with closed-chain structure: structural design and kinematic performance analysisPan Yuchen0Yue Minghang1https://orcid.org/0000-0002-2190-9139Deng Zhining2https://orcid.org/0000-0003-1642-4249Meng Zhanbin3Li Yufu4College of Mechanical, Naval Architecture and Ocean Engineering, Beibu Gulf UniversityCollege of Mechanical, Naval Architecture and Ocean Engineering, Beibu Gulf UniversityCollege of Mechanical, Naval Architecture and Ocean Engineering, Beibu Gulf UniversityCollege of Mechanical, Naval Architecture and Ocean Engineering, Beibu Gulf UniversityCollege of Mechanical, Naval Architecture and Ocean Engineering, Beibu Gulf UniversityTraditional shipbuilding crane manipulator is widely used in the process of block lifting and erection of ships, but there are generally problems, such as inflexible output trajectory, limited workspace and low working efficiency. In order to solve above problems, a novel hybrid shipbuilding crane manipulator with closed-chain structure and weakly-coupled characteristics based on multi-DOF (Degree-of-Freedom) mechanism is proposed. Then, a systematically structural and kinematic modeling and analysis method is presented to describe the coupling degree, singular configurations, workspace, motion trajectory, dexterity capacity and static stiffness performances of this type of closed-chain structure mechanism. Results of the numerical examples verify the correctness, accuracy and efficiency of the proposed method. Meanwhile, compared with the traditional shipbuilding crane manipulator, the proposed novel manipulator can finish lifting and transportation operation more efficient, which can also be applied in fields such as: innovative design of oil and gas drilling platforms, deck machinery, construction machinery and other engineering equipment.https://www.mechanics-industry.org/articles/meca/full_html/2024/01/mi230011/mi230011.htmlshipbuilding crane manipulatorpoc setsingularityworkspaceperformance analysismotion trajectory |
| spellingShingle | Pan Yuchen Yue Minghang Deng Zhining Meng Zhanbin Li Yufu Shipbuilding crane manipulator with closed-chain structure: structural design and kinematic performance analysis Mechanics & Industry shipbuilding crane manipulator poc set singularity workspace performance analysis motion trajectory |
| title | Shipbuilding crane manipulator with closed-chain structure: structural design and kinematic performance analysis |
| title_full | Shipbuilding crane manipulator with closed-chain structure: structural design and kinematic performance analysis |
| title_fullStr | Shipbuilding crane manipulator with closed-chain structure: structural design and kinematic performance analysis |
| title_full_unstemmed | Shipbuilding crane manipulator with closed-chain structure: structural design and kinematic performance analysis |
| title_short | Shipbuilding crane manipulator with closed-chain structure: structural design and kinematic performance analysis |
| title_sort | shipbuilding crane manipulator with closed chain structure structural design and kinematic performance analysis |
| topic | shipbuilding crane manipulator poc set singularity workspace performance analysis motion trajectory |
| url | https://www.mechanics-industry.org/articles/meca/full_html/2024/01/mi230011/mi230011.html |
| work_keys_str_mv | AT panyuchen shipbuildingcranemanipulatorwithclosedchainstructurestructuraldesignandkinematicperformanceanalysis AT yueminghang shipbuildingcranemanipulatorwithclosedchainstructurestructuraldesignandkinematicperformanceanalysis AT dengzhining shipbuildingcranemanipulatorwithclosedchainstructurestructuraldesignandkinematicperformanceanalysis AT mengzhanbin shipbuildingcranemanipulatorwithclosedchainstructurestructuraldesignandkinematicperformanceanalysis AT liyufu shipbuildingcranemanipulatorwithclosedchainstructurestructuraldesignandkinematicperformanceanalysis |