英文版论文资料：Stability Analysis of a Floating Multirobot Coordinated Towing System Based on the Stability Cone Method.pdfVIP

JournalofMarineScienceandApplication(2025)24:449-457

/10.1007/s11804-024-00460-z

RESEARCHARTICLE

StabilityAnalysisofaFloatingMultirobotCoordinatedTowingSystemBased

ontheStabilityConeMethod

1111

XiangtangZhao,ZhigangZhao,ChengSuandJiadongMeng

Received:08October2023/Accepted:13January2024

©HarbinEngineeringUniversityandSpringer-VerlagGmbHGermany,partofSpringerNature2025

Abstract

Currently,thecranesusedatseadonothaveenoughflexibility,efficiency,andsafety.Thus,thisstudyproposedafloatingmultirobot

coordinatedtowingsystemtomeetthedemandsforoffshoretowing.Becauseoftheflexibilityofrope-drivenrobots,theone-waypulling

characteristicsoftherope,andthefloatingcharacteristicsofthebase,towingrobotsareeasilyoverturned.First,thespatialconfigurationofthe

towingsystemwasestablishedaccordingtothetowingtask,andthekinematicmodelofthetowingsystemwasestablishedusingthecoordinate

transformation.Then,thedynamicmodelofthetowingsystemwasestablishedaccordingtotherigid-bodydynamicsandhydrodynamictheory.

Finally,thestabilityofthetowingsystemwasanalyzedusingthestabilityconemethod.Thesimulationexperimentsprovideareferenceforthe

practicalapplicationofthefloatingmultirobotcoordinatedtowingsystem,whichcanimprovethestabilityoftowingsystemsbychangingthe

configurationofthetowingrobot.

KeywordsOffshoretowing;Kinematicmodel;Dynamicmodel;Stabilityconemethod;Stability

1Introductiontem.Thissystemcanmakeupforthedefectsofasingle

marinecranetoalargeextentandimprove