Resumen
Payload lifting is inefficient and high-risk under rough sea conditions. Thus, it is not easy to achieve precise assembly, and the swing payload is liable to collide with other structures on deck and cause damage. In this paper, to explore the complex dynamic characteristics of a triple-tagline anti-swing system (TTAS) for marine cranes in an offshore environment, an irregular wave model was first integrated into a dynamic system model of TTAS, and the TTAS for offshore payload lifting was simplified as a constrained-pendulum system with moving base excitations. Further, the dynamic system model was established by applying the methods in robotics. Meanwhile, the dynamic characteristics were simulated and analyzed using Matlab/Simulink. The simulation results show that the in-plane angle and out-of-plane angle of the payload can be effectively suppressed, and the range of the two-dimensional trajectory of the payload is greatly reduced. The research results provide a theoretical basis for optimizing the mechanical structures of TTAS or similar equipment.