Articulated Lifting System Modeling Based on Dynamics of Flexible Multi-Body Systems

摘要

In lifting sub-system of deep-sea mining system,spherical joint is used to connect lifting pipes to replace fixed joint.Based on Dynamics of Flexible Multi-body systems,the mechanics model of articulated lifting system is established.Under the four-grade and six-grade oceanic condition,dynamic responses of lifting system are simulated and experiment verified.The simulation results are consistent with experimental ones.The maximum moment of flexion is 322 kN-m on the first pipe under six-grade sea condition.It is seen that the articulated connection can reduce the moment of flexion.The bending deformation of pipe center is researched,and the maximum is 0.000479 m on the first pipe.Deformation has a little effect on the motion of system.It is feasible to analyze articulated lifting system by applying the theory of flexible multi-body dynamics.The articulated lifting system is obviously better than the fixed one.