DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES
This paper introduces a multi-robot coordinated parallel system for sea towing. Due to the force and direction of the floating-base are constantly changing, it is easy to overturn the crane. Firstly, the system is divided into two parts: floating robot and suspended system, and the dynamic model of...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Strength
2022-01-01
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| Series: | Jixie qiangdu |
| Subjects: | |
| Online Access: | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2022.03.018 |
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| Summary: | This paper introduces a multi-robot coordinated parallel system for sea towing. Due to the force and direction of the floating-base are constantly changing, it is easy to overturn the crane. Firstly, the system is divided into two parts: floating robot and suspended system, and the dynamic model of the two are analyzed by using hydrodynamic theory and ball-pendulum model. Then according to the characteristics of fluid-solid coupling, the concrete steps of solving the system response to waves are analyzed. Finally, the displacement of floating-base, swing of suspended object and tension of rope are obtained by comparing and simulating the system under wave condition. The conclusion is a good basis for the optimization and control of the system. |
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| ISSN: | 1001-9669 |