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

基于稳定锥方法的浮动多机器人协调牵引系统稳定性分析

作　　者：Xiangtang Zhao Zhigang Zhao Cheng Su Jiadong Meng 赵祥堂;赵志刚;苏程;孟佳东

机构地区：[1]Department of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China

出　　处：《哈尔滨工程大学学报(英文版)》2025年第2期449-457,共9页Journal of Marine Science and Application

基　　金：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;the Key Research and Development Project of Lanzhou Jiaotong University under Grant No.LZJTUZDYF2302.

摘　　要：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.

关 键 词：Offshore towing Kinematic model Dynamic model Stability cone method STABILITY 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]