Determination of reaction forces of a deck crane in wave motion using screw theory
In this paper, we present a method for calculating reaction forces for a crane mounted on a ship moving in waves. The method is used to calculate the reaction forces between the crane base and the vessel deck. This includes the case where the crane is mounted on the platform that keeps the base of t...
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Online Access: | http://hdl.handle.net/11250/2612313 https://doi.org/10.1115/1.4043701 |
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ftntnutrondheimi:oai:ntnuopen.ntnu.no:11250/2612313 2023-05-15T14:21:33+02:00 Determination of reaction forces of a deck crane in wave motion using screw theory Cibicik, Andrej Tysse, Geir Ole Egeland, Olav 2019 http://hdl.handle.net/11250/2612313 https://doi.org/10.1115/1.4043701 eng eng ASME Norges forskningsråd: 237896 Journal of Offshore Mechanics and Arctic Engineering. 2019, 141 (6), . urn:issn:0892-7219 http://hdl.handle.net/11250/2612313 https://doi.org/10.1115/1.4043701 cristin:1697840 Navngivelse 4.0 Internasjonal http://creativecommons.org/licenses/by/4.0/deed.no CC-BY 12 141 Journal of Offshore Mechanics and Arctic Engineering 6 Journal article Peer reviewed 2019 ftntnutrondheimi https://doi.org/10.1115/1.4043701 2019-09-17T06:55:24Z In this paper, we present a method for calculating reaction forces for a crane mounted on a ship moving in waves. The method is used to calculate the reaction forces between the crane base and the vessel deck. This includes the case where the crane is mounted on the platform that keeps the base of the crane horizontal when the vessel is moving in roll and pitch. The wave motion of the ship is modeled with force response amplitude operators (RAOs) based on the JONSWAP wave spectrum. The combined equations of motion for a vessel and a crane are derived using Kane’s equations of motion, where velocities and angular velocities are formulated in terms of twists, and the associated partial velocities and partial angular velocities are given as lines in Plücker coordinates. The unknown reaction forces are represented as wrenches and are determined using screw transformations. The method is used to study the effect of the roll and pitch compensation platform in numerical simulations. The efficiency of the platform is evaluated in terms of the magnitude of reaction forces and crane payload sway angles. publishedVersion Copyright © 2019 by ASME; reuse license CC-BY 4.0 Article in Journal/Newspaper Arctic NTNU Open Archive (Norwegian University of Science and Technology) Journal of Offshore Mechanics and Arctic Engineering 141 6 |
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Open Polar |
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NTNU Open Archive (Norwegian University of Science and Technology) |
op_collection_id |
ftntnutrondheimi |
language |
English |
description |
In this paper, we present a method for calculating reaction forces for a crane mounted on a ship moving in waves. The method is used to calculate the reaction forces between the crane base and the vessel deck. This includes the case where the crane is mounted on the platform that keeps the base of the crane horizontal when the vessel is moving in roll and pitch. The wave motion of the ship is modeled with force response amplitude operators (RAOs) based on the JONSWAP wave spectrum. The combined equations of motion for a vessel and a crane are derived using Kane’s equations of motion, where velocities and angular velocities are formulated in terms of twists, and the associated partial velocities and partial angular velocities are given as lines in Plücker coordinates. The unknown reaction forces are represented as wrenches and are determined using screw transformations. The method is used to study the effect of the roll and pitch compensation platform in numerical simulations. The efficiency of the platform is evaluated in terms of the magnitude of reaction forces and crane payload sway angles. publishedVersion Copyright © 2019 by ASME; reuse license CC-BY 4.0 |
format |
Article in Journal/Newspaper |
author |
Cibicik, Andrej Tysse, Geir Ole Egeland, Olav |
spellingShingle |
Cibicik, Andrej Tysse, Geir Ole Egeland, Olav Determination of reaction forces of a deck crane in wave motion using screw theory |
author_facet |
Cibicik, Andrej Tysse, Geir Ole Egeland, Olav |
author_sort |
Cibicik, Andrej |
title |
Determination of reaction forces of a deck crane in wave motion using screw theory |
title_short |
Determination of reaction forces of a deck crane in wave motion using screw theory |
title_full |
Determination of reaction forces of a deck crane in wave motion using screw theory |
title_fullStr |
Determination of reaction forces of a deck crane in wave motion using screw theory |
title_full_unstemmed |
Determination of reaction forces of a deck crane in wave motion using screw theory |
title_sort |
determination of reaction forces of a deck crane in wave motion using screw theory |
publisher |
ASME |
publishDate |
2019 |
url |
http://hdl.handle.net/11250/2612313 https://doi.org/10.1115/1.4043701 |
genre |
Arctic |
genre_facet |
Arctic |
op_source |
12 141 Journal of Offshore Mechanics and Arctic Engineering 6 |
op_relation |
Norges forskningsråd: 237896 Journal of Offshore Mechanics and Arctic Engineering. 2019, 141 (6), . urn:issn:0892-7219 http://hdl.handle.net/11250/2612313 https://doi.org/10.1115/1.4043701 cristin:1697840 |
op_rights |
Navngivelse 4.0 Internasjonal http://creativecommons.org/licenses/by/4.0/deed.no |
op_rightsnorm |
CC-BY |
op_doi |
https://doi.org/10.1115/1.4043701 |
container_title |
Journal of Offshore Mechanics and Arctic Engineering |
container_volume |
141 |
container_issue |
6 |
_version_ |
1766294243082502144 |