Stability Analysis of the Floating Multi-robot Coordinated Towing System Based on Ship Stability.

Currently, cranes used at sea are insufficient in efficiency. Accordingly, a floating multi-robot coordinated towing system is proposed to meet offshore towing needs. However, the towing robot is prone to overturning because of the system's utilization of rope-driven robot flexibility and its floating attributes in fluid environments. First, the kinematics and dynamics of the towing system are analyzed through coordinate transformations and hydrodynamic theory. Subsequently, physical modeling of the towing system is conducted, with an emphasis on analyzing the system's fluid-structure coupling properties, supplemented by illustrative examples. Finally, the stability of the floating robot is assessed based on ship stability theory, encompassing analyses of the rope tension effects, size and shape of the floating base, and external environmental factors influencing system stability. Results show that the special shape of the floating base is beneficial in reducing water resistance and improving the stability of the floating robot in the flow field. The results provide a good basis for the system structural design and application. [ABSTRACT FROM AUTHOR]