Citation:
Cheng Su,Xiangtang Zhao,Zengzhen Yan,et al.Workspace Analysis of a Floating Multi-Robot Coordinated Lifting System[J].Journal of Marine Science and Application,2024,(1):148-159.[doi:10.1007/s11804-024-00389-3]
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Workspace Analysis of a Floating Multi-Robot Coordinated Lifting System
Cheng Su,Xiangtang Zhao,Zengzhen Yan,et al.Workspace Analysis of a Floating Multi-Robot Coordinated Lifting System[J].Journal of Marine Science and Application,2024,(1):148-159.[doi:10.1007/s11804-024-00389-3]
Info
- Title:
- Workspace Analysis of a Floating Multi-Robot Coordinated Lifting System
- Author(s):
- Cheng Su; Xiangtang Zhao; Zengzhen Yan; Zhigang Zhao; Jiadong Meng
- Affilations:
- Keywords:
- Offshore lifting|Multi-robot system|Kinematic model|Dynamic model|Static workspace|Dynamic workspace
- DOI:
- 10.1007/s11804-024-00389-3
- Abstract:
- At present, the cranes used at sea have several shortcomings in terms of flexibility, efficiency, and safety. Therefore, a floating multi-robot coordinated lifting system is proposed to fulfill the offshore lifting requirements. First, the structure of the lifting system is established according to the lifting task, the kinematic model of the system is developed by using the D–H coordinate transformation, and the dynamic model is developed based on rigid-body dynamics and hydrodynamics. Then, the static and dynamic workspace of the lifting system are analyzed, and the solving steps of the workspace are given by using the Monte–Carlo method. The effect of the load mass and the maximum allowable tension of the cable on the workspace is examined by simulation. Results show that the lifting system has limited carrying capacity and a data reference for selecting the structural parameters by analyzing the factors affecting the workspace. Findings provide a basis for further research on the optimal design of structural parameters and the determination of safe configurations of the lifting system.
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Memo
- Memo:
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Received date:2022-10-25;Accepted date:2023-05-30。
Foundation item:Supported by the National Natural Science Foundation of China under Grant No. 51965032, the National Natural Science Foundation of Gansu Province of China under Grant No. 22JR5RA319, the Science and Technology Foundation of Gansu Province of China under Grant No. 21YF5WA060, and the Excellent Doctoral Student Foundation of Gansu Province of China under Grant No. 23JRRA842.
Corresponding author:Zhigang Zhao, E-mail: zhaozhg@mail.lzjtu.cn
