Dynamics and workspace analysis of marine crane systems

When the marine crane is operating, the working space is greatly restricted due to the influence of deck fittings. Under the action of ship motion, the crane undergoes significant swinging, and the swinging trajectory of the payload becomes even more complex and variable. In this paper, a kinematic model of the marine crane boom and payload is established. The transformation matrix of the actual coordinate system of each axis of the marine crane system relative to the base coordinate system is derived. The kinematic relationship between various joints of the marine crane system is obtained, and the workspace of the marine crane boom end and the swinging space of the payload are solved to find the boundary of the workspace. Simulation results show that compared with individual wind payload and wave excitation conditions, the workspace of the crane boom and the swinging space of the payload significantly increase under coupled conditions of wind payload and wave excitation, indicating that environmental factors have a significant impact on the workspace of the crane.