Dynamics of a Ship-Mounted Two-DoF Manipulator Case: Effect of Sea State to the Manipulator Joint Torque

Yazid, Edwar; Nugraha, Aditya Sukma; Saputra, Hendri Maja; Rahmat, Rahmat

doi:10.1109/iciaict.2019.8784860

Cited by 2 publications

(4 citation statements)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Term J is transmission inertia (kg.m 2 ), b is transmission friction (N.s/rad), and G is ratio of gear. By substituting (17) and (18) into (16), Equation ( 15) can be expanded and rewritten into,…”

Section: Models Of Mechanical Transmission and Electrical Motormentioning

confidence: 99%

“…However, depending on the information that the author observes, research on the ship motions that are applied to the manipulator system is relatively rare. The six-DoF ship motions are taken into account in this paper to improve the work dynamics 16) of a two-DoF manipulator installed on a ship with different hydrodynamic processing tools and to investigate the effect of ocean wave directions. Luo found that in the offshore application of the power transmission system, the dynamics of the wire were significantly affected by the wave and wind direction 17) .…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Motor Sizing of a Ship-Mounted Two-DoF Manipulator System Considering Variations of Ocean Wave Direction

Mohamad Luthfi Ramadiansyah,

Yazid,

Mirdanies

et al. 2023

Evergreen

View full text Add to dashboard Cite

Inverse dynamics model of the manipulator system combined with ship motions is required in order to size the electrical motor performance for ship-mounted subsystems. This study examines a sizing methodology by developing an integrated dynamical model of a two-DoF manipulator system mounted on the ship by using Lagrange-Euler method and simulating ship motions using ANSYS AQWA. Given the parameters of manipulator links and six-DoF ship motions, joint torques of a two-DoF manipulator and its electrical motors can be calculated by including the mechanical transmission. Under variations of wave direction with the JONSWAP spectrum applied, the results show that the ship motions significantly contribute to the mechanical and electrical manipulator torques, with the highest value at the 90 o wave direction (beam sea) for the azimuth motor and at the 45 o wave direction (quartering sea) for the elevation motor. The results can be used to size the motor torque specification by taking into account the random wave-induced ship motions and they can be extended to the development of a robust control system for the manipulator system.

show abstract

Section: Models Of Mechanical Transmission and Electrical Motormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Motor Sizing of a Ship-Mounted Two-DoF Manipulator System Considering Variations of Ocean Wave Direction

Mohamad Luthfi Ramadiansyah,

Yazid,

Mirdanies

et al. 2023

Evergreen

View full text Add to dashboard Cite

show abstract

“…The term 𝛼 is a Phillip's constant, 𝐻 𝑠 is significant wave height, 𝜔 𝑝 is peak frequency, 𝛾 is peakedness parameter, 𝜎 is shape parameter [24]. By taking the values of spectral ordinate ( ) ω S , the amplitude of the i -th ocean wave component can be calculated by using equation (17),…”

Section: ) Ship and Ocean Random Waves Interaction Modellingmentioning

confidence: 99%

“…Research by Qian and Fang in [23] is regarded as the closest work where they had analyzed the regular ocean waves effect to the dynamic analysis of a shipmounted crane system. Further, dynamics of manipulator systems subject to irregular ocean waves induced ship motions had been performed by [24] under variations of sea states. Important finding results show that the maximum joint torque of a manipulator is proportional to the increment of significant wave height and greatly affected by the direction of ocean wave propagation.…”

Section: Introductionmentioning

confidence: 99%

Numerical investigation of the effect of ocean depth variations on the dynamics of a ship mounted two-DoF manipulator system

Ramadiansyah¹,

Yazid²,

Ng³

2022

J. Mechatron. Electr. Power Veh. Technol.

View full text Add to dashboard Cite

The dynamics of a ship need to be considered in the development of a manipulator system that will be applied to the ocean-based operation. This paper aims to investigate the effect of ocean depth variations on the ship motion as disturbances to a ship-mounted two-DoF (Degrees of Freedom) manipulator joint torque using an inverse dynamics model. Realization is conducted by deriving the mathematical model of a two-DoF manipulator system subject to six-DoF ship motion, which is derived by using Lagrange-Euler method. It is then combined with numerical hydrodynamic simulation to obtain the ship motions under ocean depth variations, such as shallow (50 m), intermediate (750 m), and deep (3,000 m) waters. Finding results show that randomness of the ship motions appears on the manipulator joint torque. In the azimuth link, maximum joint torque is found in shallow water depth with an increment of 8.271 N.m (285.69 %) from the undisturbed manipulator. Meanwhile, the maximum joint torque of the elevation link is found in intermediate water depth with an increment of 53.321 N.m (6.63 %). However, the difference between depth variations is relatively small. This result can be used as a baseline for sizing the electrical motor and developing the robust control system for the manipulator that is mounted on the ship by considering all ocean depth conditions.

show abstract

Dynamics of a Ship-Mounted Two-DoF Manipulator Case: Effect of Sea State to the Manipulator Joint Torque

Cited by 2 publications

References 2 publications

Motor Sizing of a Ship-Mounted Two-DoF Manipulator System Considering Variations of Ocean Wave Direction

Motor Sizing of a Ship-Mounted Two-DoF Manipulator System Considering Variations of Ocean Wave Direction

Numerical investigation of the effect of ocean depth variations on the dynamics of a ship mounted two-DoF manipulator system

Contact Info

Product

Resources

About