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...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Strength
2022-01-01
|
| Series: | Jixie qiangdu |
| Subjects: | |
| Online Access: | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2022.03.018 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841536052952563712 |
|---|---|
| author | ZHAO XiangTang ZHAO ZhiGang SU Cheng WEI QiZhe ZHENG XiaoYan |
| author_facet | ZHAO XiangTang ZHAO ZhiGang SU Cheng WEI QiZhe ZHENG XiaoYan |
| author_sort | ZHAO XiangTang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-ce1747c6a0c64cf4b9c917bf63279c76 |
| institution | Kabale University |
| issn | 1001-9669 |
| language | zho |
| publishDate | 2022-01-01 |
| publisher | Editorial Office of Journal of Mechanical Strength |
| record_format | Article |
| series | Jixie qiangdu |
| spelling | doaj-art-ce1747c6a0c64cf4b9c917bf63279c762025-01-15T02:24:17ZzhoEditorial Office of Journal of Mechanical StrengthJixie qiangdu1001-96692022-01-014463564029913083DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVESZHAO XiangTangZHAO ZhiGangSU ChengWEI QiZheZHENG XiaoYanThis 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.http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2022.03.018Towing systemHydrodynamicDynamic modelFluid-structure interactionDynamic response |
| spellingShingle | ZHAO XiangTang ZHAO ZhiGang SU Cheng WEI QiZhe ZHENG XiaoYan DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES Jixie qiangdu Towing system Hydrodynamic Dynamic model Fluid-structure interaction Dynamic response |
| title | DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES |
| title_full | DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES |
| title_fullStr | DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES |
| title_full_unstemmed | DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES |
| title_short | DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES |
| title_sort | dynamic response of multi robot coordinated towing system to waves |
| topic | Towing system Hydrodynamic Dynamic model Fluid-structure interaction Dynamic response |
| url | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2022.03.018 |
| work_keys_str_mv | AT zhaoxiangtang dynamicresponseofmultirobotcoordinatedtowingsystemtowaves AT zhaozhigang dynamicresponseofmultirobotcoordinatedtowingsystemtowaves AT sucheng dynamicresponseofmultirobotcoordinatedtowingsystemtowaves AT weiqizhe dynamicresponseofmultirobotcoordinatedtowingsystemtowaves AT zhengxiaoyan dynamicresponseofmultirobotcoordinatedtowingsystemtowaves |