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Workspace Analysis of a Floating Multi-Robot Coordinated Lifting System

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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.

Offshore liftingMulti-robot systemKinematic modelDynamic modelStatic workspaceDynamic workspace

Cheng Su、Xiangtang Zhao、Zengzhen Yan、Zhigang Zhao、Jiadong Meng

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

National Natural Science Foundation of ChinaNational Natural Science Foundation of Gansu Province of ChinaScience and Technology Foundation of Gansu Province of ChinaExcellent Doctoral Student Foundation of Gansu Province of China

5196503222JR5RA31921YF5WA06023JRRA842

2024

10.1007/s11804-024-00389-3

哈尔滨工程大学学报(英文版)
哈尔滨工程大学

哈尔滨工程大学学报(英文版)

CSTPCD
影响因子：0.381
ISSN：1671-9433
年,卷(期)：2024.23(1)
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