Determination of reaction forces of a deck crane in wave motion using screw theory OPEN ACCESS

[+] Author and Article Information
Andrej Cibicik

Department of Mechanical and Industrial Engineering, NTNU S. P. Andersens vei 5 Trondheim, 7491 Norway andrej.cibicik@ntnu.no

Geir Ole Tysse

Department of Mechanical and Industrial Engineering Trondheim, 7491 Norway geir.o.tysse@ntnu.no

Olav Egeland

S.P. Andersens vei 5 Trondheim, 7491 Norway olav.egeland@ntnu.no

1Corresponding author.

Contributed by the Ocean, Offshore, and Arctic Engineering Division of ASME for publication in the Journal of Offshore Mechanics and Arctic Engineering. Manuscript received November 29, 2018; final manuscript received April 29, 2019; published online xx xx, xxxx. Assoc. Editor: Marcelo R. Martins.

ASME doi:10.1115/1.4043701 History: Received November 29, 2018; Accepted April 29, 2019


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 a platform which 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 RAOs based on the JONSWAP wave spectrum. The combined equations of motion for vessel and 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 the reaction forces and crane payload sway angles.

Copyright © 2019 by ASME
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