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Journal of Marine Science and Application[ISSN:1002-2848/CN:61-1400/f]

卷:

期数:

2025年2

页码:

449-457

栏目:

出版日期:

2025-05-25

Info

Title:

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

Author(s):

Xiangtang Zhao;  Zhigang Zhao;  Cheng Su;  Jiadong Meng

Affilations:

Author(s):

Xiangtang Zhao;  Zhigang Zhao;  Cheng Su;  Jiadong Meng

Department of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou, 730070, China

Keywords:

Offshore towing; Kinematic model; Dynamic model; Stability cone method; Stability

分类号:

-

DOI:

10.1007/s11804-024-00460-z

Abstract:

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.

References:

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Memo

Memo:

Received date:2023-10-8;Accepted date:2024-1-13。
Foundation item:Supported by the National Natural Science Foundation of China under Grant No. 51965032; the Natural Science Foundation of Gansu Province of China under Grant No. 22JR5RA319; the Excellent Doctoral Student Foundation of Gansu Province of China under Grant No. 23JRRA842; the Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance under Grant No. GAMRC2023YB05; and the Key Research and Development Project of Lanzhou Jiaotong University under Grant No. LZJTUZDYF2302.
Corresponding author:Zhigang Zhao,E-mail:zhaozhg@mail.lzjtu.cn

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Last Update: 2025-04-23