Motion of Floating Cable-Driven Platforms. Efficient universal mathematical model is developed to study the dynamics of floating cable driven/moored platforms

      Аннотация: MOTION OF FLOATING CABLE-DRIVEN PLATFORMS: An efficient universal mathematical model is developed to study the dynamics of floating cable driven/moored platforms (FCDPs). The current work embraces the kinematic and dynamic analysis of two types of FCDPs in marine environments. These are a floating movable cylindrical platform (FMCP), and a movable spar platform (MSP). In both of these platforms, variable length mooring cables are controlled by reel/motor devices mounted on the floating structure of the platforms. An experimental study is conducted in a small basin to study the floating cylindrical platform in a static fluid environment to verify the developed mathematical model of the FCDPs. For the sake of generality, the floating structure has a cylindrical geometry with six-degrees-of-freedom and it is connected to the seabed by a mooring system. The floating platforms are subjected sea wave forces. The main purpose of the analysis is to identify conditions that keep the mooring cables taut when the FCDP is exposed to environmental loads.

Ключевые слова: dynamic analysis, Parallel Mechanisms, Robotics, workspace, Marine platforms, Water waves, Cable stiffness, Mooring system