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2025 , Vol. 30 >Issue 6: 1162 - 1170

DOI: https://doi.org/10.1007/s12204-023-2634-7

Automation & Computer Technologies

Load Stability Analysis of a Floating Multi-Robot Coordinated Towing System

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  • School of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China

Received date: 2022-10-11

  Accepted date: 2023-01-09

  Online published: 2023-08-14

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Abstract

Cranes used at sea have some shortcomings in terms of flexibility, efficiency, and safety. Therefore, a floating multi-robot coordinated towing system is planned to fulfill the offshore towing requirements. It is difficult to study the stability of a floating multi-robot coordinated towing system by ancient strategies. First, the minimum tension of the rope and the minimum singular value of the stiffness matrix were separately used to analyze the load stability. The advantages and disadvantages of the two methods were discussed. Then, the two stability analysis methods were normalized and weighted to obtain the method based on minimum tension and minimum singular to comprehensively analyze the stability of the load. Finally, the effect of different weighting coefficients on the load stability was analyzed, which led to a reasonable weighting coefficient to evaluate the load stability by comparing with a single analysis method. The research results provide a basis for the motion planning and coordinated control of the towing system.

Cite this article

SU Cheng, ZHAO Xiangtang, YAN Zengzhen, ZHAO Zhigang, MENG Jiadong . Load Stability Analysis of a Floating Multi-Robot Coordinated Towing System[J]. Journal of Shanghai Jiaotong University(Science), 2025 , 30(6) : 1162 -1170 . DOI: 10.1007/s12204-023-2634-7

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