哈尔滨工程大学学报2023，Vol.55Issue(10)：1825-1831,7.DOI:10.11990/jheu.202106076
浮动基多机协调吊运系统的动力学建模与仿真
Dynamic modeling and simulation of a floating multi-robot coordinated towing system
摘要
Abstract
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.关键词
海上起重机/多机器人/绳牵引并联/吊运系统/运动学建模/动力学建模/流体力学/仿真Key words
offshore crane/multi-robot/cable-driven in parallel/towing system/kinematics model/dynamics model/hydrodynamics/simulation分类
机械制造引用本文复制引用
赵志刚,赵祥堂,苏程,孟佳东,卫启哲..浮动基多机协调吊运系统的动力学建模与仿真[J].哈尔滨工程大学学报,2023,55(10):1825-1831,7.基金项目
国家自然科学基金项目(51965032) （51965032）
甘肃省自然科学基金项目(22JR5RA319) （22JR5RA319）
甘肃省科技计划项目(21YF5WA060) （21YF5WA060）
甘肃省优秀博士生项目(23JRRA842). （23JRRA842）
