DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES

DYNAMIC RESPONSE OF MULTI-ROBOT COORDINATED TOWING SYSTEM TO WAVES

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This paper introduces a multi-robot coordinated parallel system for sea towing.Due to the force and direction bilstein shocks jeep xj of the floating-base are constantly changing, it is easy to overturn the crane.Firstly, the system is divided into two parts: floating robot and suspended system, and the dynamic model of the two are analyzed by using hydrodynamic theory and ball-pendulum model.Then according to the characteristics of fluid-solid coupling, the concrete steps of solving the here system response to waves are analyzed.

Finally, the displacement of floating-base, swing of suspended object and tension of rope are obtained by comparing and simulating the system under wave condition.The conclusion is a good basis for the optimization and control of the system.