This paper concerns the forward kinematics and tension distribution of sinking winches mechanism, which is a type of four-cable-driven partly constrained parallel robot. Conventional studies on forward kinematics of cable-driven parallel robot assumed that all cables are taut. Actually, given the lengths of four cables, some cables may be slack when the platform is in static equilibrium. Theref...

This paper presents the fomulation of the inverse kinematics and dvnamics of the1 3-RRS parallel platform with three degrees of freedom. For inverse kinematics, The position analysis is f irs f ly performed. Then the differential motion constraint vquations of the movable platform are established, based on which the velocity and acceleration formulae of leg actuators are derived. In inverse dyn...

This paper presents the coupled analysis performed in frequency and time domain, considering a multi-purpose floating structure suitable for offshore wind wave energy source exploitation. The encompasses an array of hydrodynamically interacting Oscillating Water Column (OWC) devices, moored through tensioned tethers as Tension Leg Platform (TLP), supports 10 MW Wind Turbine (WT). is built to in...

Along with the technology development of ocean resources, offshore platforms are gradually becoming larger and more complex. Recent oil gas field in deep-water region often involves multiple floating adjacent to each other perform complex functions for production. This paper describes investigation carried out on dynamic responses a two system containing Tension Leg Platform (TLP) tender assist...

Recent investigations into biological locomotion have resulted in the development of reduced order templates that emphasize the role of lateral dynamics in achieving rapid and robust fore-aft movement, such as the Full-Goldman model for dynamic climbing and the Lateral Leg Spring model for horizontal plane running. The observation of individual animals demonstrating locomotion via both of these...