Theoretical Analysis of Mechanism Kinematics for Boom Crane of Marine Drilling Platform

Abstract

The boom crane of marine drilling platform is an important part of the automated pipe racking system. It has important engineering significance to study the kinematics of boom crane for the automatic control and accurate positioning. Using the method of robot mechanisms, the kinematics of mechanism for boom crane on marine drilling platform is discussed in this paper. According to the structure and motion characteristics of the boom crane, a special joint coordinate system is chosen. The kinematics model of the boom crane is established. The forward kinematics equations, inverse kinematics calculation formulas are derived. The correctness of formulas is verified by examples. The theoretical basis is provided for the movement automatic control and subsequent dynamics and boom crane mechanics analysis when considering the elastic deformation.