Journal
IEEE ACCESS
Volume 9, Issue -, Pages 86132-86143Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2021.3063792
Keywords
Cranes; Payloads; Mathematical model; Analytical models; Marine vehicles; Dynamics; DC motors; Offshore cranes; anti-swing system; payload swing suppression; dynamics
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This paper presents a novel Cable-Driven Inverted Tetrahedron Mechanism (CDITM) for offshore crane safety, investigating the influence of ship excitations and other factors on payload swing and verifying the dynamic modeling and analysis through theoretical and experimental results, providing fundamental and valuable insights for the engineering application of CDITM in offshore industries.
Crane operations might be very dangerous in rough sea conditions due to unexpected payload swing induced by ship excitations. In this paper, a novel Cable-Driven Inverted Tetrahedron Mechanism (CDITM) is presented to suppress the payload swing for sake of the workers' safety. The CDITM retrofitting on an offshore crane is simplified as a constrained pendulum with a moving base, and its equations of motion are obtained by Newton Euler Method. Next, three-dimensional dynamic analysis is performed using Matlab/Simulink, and the influence law of ship excitations, tagline tension, crane pose and CDITM configuration on the payload swing are investigated. Finally, through comparative experimental verification, it is found that the simulation tendencies of in-plane swing follows the experiment curves quite well, and the variations between the simulation and experiment results are acceptable. Thus the dynamic modeling and analysis of CDITM are verified. The theoretical and experimental results are fundamental and valuable for the engineering application of CDITM in the offshore industries.
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