Inverse Kinematics and Dynamics Simulation of a Dredging Clamshell

Abstract

This paper proposes a problem of flat dredging because of the phenomenon of overdredging casuing bottom roughness in dredging engineering and presents the formulation of the inverse kinematics and dynamics simulation of a dredging clamshell. A dynamical model of dredging clamshell is built based on Adams and the position analysis is firstly performed by adding a general point motion to the dredging clamshell. By analyzing and solving kinematics equations in inverse, movement curves of the steel wire ropes are obtained, and the pulling force curves are acquired by dynamics simulation. The results show that the method automatically generates inverse dynamic solutions and the movement curves are intuitive and can offer help to the flat dredging control scheme effectively.