Ship derusting has the characteristics of a complex operation environment, high labor intensity and low efficiency. In order to better cope with this situation, a new type of cable-driven parallel derusting robot (CDPDR) is proposed in this article. To improve the positioning accuracy and anti-interference capacity of the motion platform where the end effector is mounted, the system’s dynamic model, considering wave excitation, is established. Further, the controllable workspace and cable tension optimization algorithm are studied. In addition, a fast non-singular terminal sliding-mode controller is designed. Meanwhile, the adaptive technique is used to estimate the disturbance upper bound. Then, the Lyapunov theory is applied to prove the stability of the system. Finally, the performance of the controller is verified by high-fidelity simulations in two different scenarios. The results show that the proposed controller can converge in finite time and maintain small error under multiple external disturbances. The relevant research in this article can provide theoretical guidance for the application of CDPDRs on ships.
Ship cargo-hold cleaning is a low-efficiency and high-risk operation in marine industry, which is generally carried out manually, putting the workers in danger. To improve the efficiency and safety of ship cargo-hold cleaning, a C-DCR is proposed in this article. Most research on the dynamics and control of CDPRs has focused on the scenarios with fixed bases; however, the effect of moving-base excitation on the end-effector is largely ignored. In this article, the dynamic model is established based on Lagrange method considering the ship motion and external disturbance, in which the motor model is considered. On this basis, for the high-speed maneuverability of the C-DCR, a modified PD feedforward tracking controller was proposed. Furthermore, the stability of the controller was proved with the Lyapunov Stability Theory. To keep the cable in tension at all times, the tensions are optimized based on the minimum 2-norm method. The simulation results show that the error mean of position is 0.22 m and the angular error mean is 2.8° under ship motion and external disturbance, indicating that the C-DCR has stable, smooth and bounded tracking performance, which will ensure the accuracy of the cleaning operation.
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.
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