Dynamic Analysis of a Tension Leg Platforms (TLPs) Inspired by Parallel Robotic Manipulators

Abstract

Dynamic performance of a tension leg platform (TLP) is analyzed using a robotic manipulator approach. The TLP is vertically anchored to the seabed by twelve mooring lines. A triangular mooring line configuration is studied. In order to provide necessary motion compensation to impinging water wave loads, necessary mooring line tensioning is accomplished by means of motors with reels mounted on the TLP which keep all mooring lines taut. Manipulator-based mass, damping stiffness matrices are calculated for the TLP. The forces due to the impinging water waves are estimated based on integral methods. The dynamic response is studied within the context of a rigid-body framework. The effect of increasing/decreasing the mooring line stiffness and pre-tensions on the dynamic behavior of the TLP are investigated.

The Stability Analysis of Tension-Leg Platforms under Marine Environmental Loads via Altering the Connection Angle of Tension Legs

“…They derived a nonlinear motion equation with six DoFs and found that slack was sensitive to the mass of the TLP and obtained the critical curved surfaces for the increase of mass. Horoub et al [17] presented a triangle mooring line configuration and investigated the effect of changing the mooring line stiffness and pretension on the dynamic behaviour of the TLP. Further, increasing the mooring line stiffness or decreasing the pretension reduced the amplitudes of the platform displacement, velocity, and acceleration.…”