Stability Analysis of a Floating Multirobot Coordinated Towing System Based on the Stability Cone Method

被引：0
|
作者：
Zhao, Xiangtang [1 ]
Zhao, Zhigang [1 ]
Su, Cheng [1 ]
Meng, Jiadong [1 ]
机构：
[1] Lanzhou Jiaotong Univ, Dept Mech Engn, Lanzhou 730070, Peoples R China
来源：
JOURNAL OF MARINE SCIENCE AND APPLICATION | 2024年
基金：
中国国家自然科学基金;
关键词：
Offshore towing; Kinematic model; Dynamic model; Stability cone method; Stability;
D O I：
10.1007/s11804-024-00460-z
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
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.
引用
收藏
页码：449 / 457
页数：9
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