Research on Dynamic Modeling and Cable Tension Optimization of Marine Cable-Driven Parallel Cleaning Robot

Ship cleaning is mainly done manually, which high operation risk and low work efficiency. For that, it proposed to apply the cable-driven parallel robot field of ship cleaning. The related research traditional focused on fixed base, largely ignores influence base motion its performance. Considering caused by wave excitation modeling accuracy, dynamic model system established Newton-Euler method. And then, least variance method correlation force was used optimize cable tension. Finally, correctness rationality theory are verified Simulink-Adams co-simulation. simulation results show that trajectory comparison effect good, verifies accuracy validity theory.