Affiliation:
1. College of Marine Engineering, Dalian Maritime University, Dalian 116026, China
Abstract
Ship cleaning is mainly done manually, which is high operation risk and low work efficiency. For that, it is proposed to apply the cable-driven parallel robot to the field of ship cleaning. The related research of the traditional cable-driven parallel robot is mainly focused on the fixed base, which largely ignores the influence of the base motion on its work performance. Considering the influence of ship motion caused by wave excitation on modeling accuracy, the dynamic model of the system is established by Newton-Euler method. And then, the least variance method of correlation force was used to optimize the cable tension. Finally, the correctness and rationality of the proposed theory are verified by Simulink-Adams co-simulation. The simulation results show that the trajectory comparison effect is good, which verifies the accuracy and validity of the proposed theory.