Research On The Kinematics And Dynamics Of The Intelligent Mooring Manipulator In The Wharf

Today,with the rapid development of industrial technology,the traditional dock mooring method has not changed with the progress of port facilities and the development of ship technology.In order to effectively reduce the occurrence of dock mooring accidents and adapt to the future development trend of smart ports,the development of new smart mooring systems has attracted more and more attention at home and abroad,and has broad application prospects.In this paper,a new type of intelligent robotic arm mooring device is analyzed and studied.The main work is as follows:Firstly,according to the related theory of robot kinematics and dynamics,the DH method is used to describe the space of the mooring manipulator,and the corresponding kinematic equations are deduced by using the homogeneous transformation matrix,and the working space and the manipulator of the mooring manipulator are analyzed.The pose situation that the terminal can reach,and the simulation verification is carried out.Secondly,according to the working characteristics of the mooring manipulator,the hull moored at the wharf is studied,the wave load on the hull under the mooring state is analyzed,and the motion state of the hull when the hull is moored is analyzed.Model and set the environmental load to realize the time domain analysis under the mooring state of the workboat,and obtain the response curve of the hull motion and the stress situation when the dock is moored.Finally,the dynamic modeling method of the manipulator is introduced,and the dynamic modeling of the mooring manipulator is completed according to the Lagrangian method.In the software,the inverse kinematics simulation of the manipulator is realized by taking the motion data of the center of gravity of the ship during mooring analysis as the driving condition,and the motion trajectory of the manipulator arm joints is obtained,and then the dynamic simulation of the mooring manipulator is realized according to the wave load conditions.The driving torque curve of each joint is obtained,which provides a basis for the follow-up research of the mooring manipulator.