Spatial Motion Analysis of a Floating Crane and a Cargo with Elastic Boom based on a Three-Dimensional Beam

摘要

This paper reports on a six degrees-of-freedom (DOF) motion analysis of a floating crane with cargo connected by wire ropes. The analysis considers the boom of the floating crane as an elastic body. The dynamic equations of motions for the system are derived based on multibody system dynamics. The elastic boom is modeled as a three dimensional beam based on a finite element formulation. The hydrostatic force and the hydrodynamic force are considered as external forces acting on the wave conditions. The dynamic responses of the cargo are simulated, and the simulation results are discussed by comparing them to results for a rigid boom.