Analysis of Swing Characteristics for Floating Multi-Robot Towing System

The Floating Multi-Robot Towing System (FMRTS) tows a load on water using cables arranged in a parallel fashion. The presence of waves in the water can cause significant swinging of the load, which reduces the positioning accuracy and stability of the towing operation. Aiming at the uncertainty of load swing during the operation of FMRTS, the system's oscillation properties are examined utilizing ADAMS software. Firstly, the system's configuration is analyzed, and the dynamic model is developed using the Newton-Euler equations. Then, a 3D model of FMRTS is created, including the robot arm, load, and floating base. Based on this, the constraints and driving relationships of the system are configured to establish the system’s virtual prototype. Finally, dynamic simulations of the system are conducted based on the virtual prototype. The load's oscillation characteristics are analyzed under the base's heave, roll, and heave-roll motions, determining the impact of the base's movements on the load's oscillations. The simulation results provide a reference for load anti-swing measures and lay the foundation for system stability analysis. © (2024), (International Association of Engineers). All Rights Reserved.