Workspace analysis of a Gough-Stewart type cable marine platform subjected to harmonic water waves

Horoub, Mamon M.; Hassan, Mahir; Hawwa, Muhammad A.

doi:10.1016/j.mechmachtheory.2017.09.001

Cited by 33 publications

(19 citation statements)

References 28 publications

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“…Modeling can be carried out when considering the platform as a rigid body supported by mooring lines with known stiffness [1], [2]. As with any dynamic system, a TLP can be described by the equation of motion.…”

Section: Equation Of Motionmentioning

confidence: 99%

“…In FIGURE 1, P = x y z T is the position vector of the moving platform with respect to the base frame; Roll (ψ), pitch (θ ) and yaw (ϕ) are represented the Euler rotation angles between the moving (u, v, and w) and base ψ (X, Y, and Z) frames. Equation 17introduces the TLP Jacobean matrix as (1) xu (1) T u (2)T b (2) xu (2) T . .…”

Section: ) Jacobean Matrixmentioning

confidence: 99%

“…Mooring lines are used to anchor the platform with the seabed. They also restore the floating platform stability when it is exposed to loads caused by environmental conditions [1].…”

Section: Introductionmentioning

confidence: 99%

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

Horoub

2020

IEEE Access

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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.

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Section: Equation Of Motionmentioning

confidence: 99%

Section: ) Jacobean Matrixmentioning

confidence: 99%

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

Horoub

2020

IEEE Access

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“…In Figure 2, the matrix q p = [ , , ] T denotes the translation vector of the mantle frame {O 1 ,X 1 ,Y 1 ,Z 1 } with respect to the reference frame {O, X, Y, Z}. q e = [ , , ] T defines an Euler angles system representing orientation of the mantle frame {O 1 ,X 1 ,Y 1 ,Z 1 } in regard to the reference frame {O,X,Y,Z} [16].…”

Section: Mathematical Foundationmentioning

confidence: 99%

Dynamic Modeling and Analysis of a Novel 6‐DOF Robotic Crusher Based on Movement Characteristics

Shi

Liu

2019

Mathematical Problems in Engineering

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This paper proposes a novel 6-DOF robotic crusher that combines the performance characteristics of the cone crusher and parallel robot, such as interparticle breakage and high flexibility. Kinematics and dynamics are derived from the no-load and crushing parts in order to clearly describe the whole crushing process. For the no-load case, the kinematic and dynamic equations are established by using analytical geometry and Lagrange equation. Analytical geometry is mainly used to solve the inverse kinematics and then establish the velocity relationship between generalized coordinates and actuators. Lagrange equation which takes into account the weight of the mantle and actuators is used to solve driving forces of actuators. For the crushing case, crushing pressure is related to the compression ratio and particle size distribution, but the selection and breakage functions should be established first. Because the trajectory model of the mantle is difficult to be established by using analytical method, it can be obtained by an eccentric simulation. The results of input velocities and driving forces of actuators are distinctive due to the eccentric angle and selection of the initial position. Finally, the proposed approach is verified by a numerical example and then the energy consumption is calculated.

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“…Some applications are found in machine tool technology [2], high precision laser cutting [3], medical imaging [4], surgical operations [5], throwing platform of missiles, radio telescopes [6] or vehicle suspensions [7], just to name a few. Other recent applications can also be found in marine floating structures supporting precision instrumentation systems, cranes or wind turbines [8].…”

Section: Introductionmentioning

confidence: 99%

An effective strategy of real-time vision-based control for a Stewart platform

Rossell

Rodrigo

Massegú

et al. 2018

2018 IEEE International Conference on Industrial Technology (ICIT)

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Abstract-A Stewart platform is a kind of parallel robot which can be used for a wide variety of technological and industrial applications. In this paper, a Stewart platform designed and assembled at the Universitat Politècnica de Catalunya (UPC) by our research group is presented. The main objective is to overcome the enormous difficulties that arise when a realtime vision-based control of a fast moving object placed on these mechanisms is required. In addition, a description of its geometric characteristics, the calibration process, together with an illustrative experiment to demonstrate the good behavior of the platform is given.

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Workspace analysis of a Gough-Stewart type cable marine platform subjected to harmonic water waves

Cited by 33 publications

References 28 publications

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

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

Dynamic Modeling and Analysis of a Novel 6‐DOF Robotic Crusher Based on Movement Characteristics

An effective strategy of real-time vision-based control for a Stewart platform

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